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Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems最新文献

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Specular objects in range cameras: reducing ambiguities by motion 范围照相机中的高光物体:通过运动减少模糊性
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398437
J. Nygårds, Å. Wernersson
{"title":"Specular objects in range cameras: reducing ambiguities by motion","authors":"J. Nygårds, Å. Wernersson","doi":"10.1109/MFI.1994.398437","DOIUrl":"https://doi.org/10.1109/MFI.1994.398437","url":null,"abstract":"Range cameras using structured light and triangulation are essentially based on the assumption of one diffuse reflection from the measured surfaces, Specular and transparent objects usually give multiple reflections and direct triangulation can give different types of 'ghosts' in the range images. These 'ghosts' are likely to cause serious errors during gripping operations. As the robot moves some of the 'ghosts' move in an inconsistent way. In this paper, the authors study, experimentally and theoretically, how the range measurements can be integrated in a consistent way during the motion of the robot. Emphasis is on parts with 'optical complications' including multiple scattering. For a scene with one planar mirror the 'ghosts' are shown to lie in a plane separated from the laser plane. In this case the orientation and position of the mirror can be estimated.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"37 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116792238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Subpixel parameter estimation for elliptical shapes using image sequences 基于图像序列的椭圆形状亚像素参数估计
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398403
J. N. Reed, S. Hutchinson
{"title":"Subpixel parameter estimation for elliptical shapes using image sequences","authors":"J. N. Reed, S. Hutchinson","doi":"10.1109/MFI.1994.398403","DOIUrl":"https://doi.org/10.1109/MFI.1994.398403","url":null,"abstract":"We present a method of ellipse parameter estimation that can be used in performing automated inspection of circular features. In our method, several digital images are taken of each part as it moves past a camera, creating an image sequence. Image enhancement is performed using the image sequence, yielding a high-resolution image. Subpixel edge detection is performed on the high-resolution image, producing a set of data points that is used for ellipse parameter estimation.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123581761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
The reasonability conditions for the identical thresholds assumption in IID parallel distributed detection networks IID并行分布式检测网络中相同阈值假设的合理性条件
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398407
Xie Hongwei, Cai Hong
{"title":"The reasonability conditions for the identical thresholds assumption in IID parallel distributed detection networks","authors":"Xie Hongwei, Cai Hong","doi":"10.1109/MFI.1994.398407","DOIUrl":"https://doi.org/10.1109/MFI.1994.398407","url":null,"abstract":"This paper proposed the reasonability conditions for identical thresholds assumption, which is widely adopted in the design of independent identical distributed (IID) detection networks. These conditions lay a theoretical foundation for the usually used design procedure.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130120309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamic localisation of autonomous guided vehicles 自动导航车辆的动态定位
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398452
Stephen Borthwick, Hugh Durrant-Whyte
{"title":"Dynamic localisation of autonomous guided vehicles","authors":"Stephen Borthwick, Hugh Durrant-Whyte","doi":"10.1109/MFI.1994.398452","DOIUrl":"https://doi.org/10.1109/MFI.1994.398452","url":null,"abstract":"As autonomous guided vehicles become increasingly established within a diverse range of applications, the need for efficient and flexible operation becomes apparent. Existing localisation techniques have tended to offer either \"move look update\" operation, navigating from an a priori map, or continuous operation dependent upon artificial beacons placed within the environment. We describe an extended Kalman filter based navigation system which maintains a robust position estimate throughout continuous operation. In order to achieve dynamic operation, we exploit the recursive nature of the Kalman filter and utilise the higher data acquisition rate offered by infra red scanning to obtain observations of the operational environment. In order to further enhance performance, the a priori map is segmented into an array of regions containing sub-lists of features which can be rapidly matched with an observation, thus minimising the computation overhead due to data association.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125351088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Shaping control of plastic object by robot hand with sensor fusion processing 基于传感器融合处理的机械手塑形控制
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398375
R. Masuda, M. Sasaki
{"title":"Shaping control of plastic object by robot hand with sensor fusion processing","authors":"R. Masuda, M. Sasaki","doi":"10.1109/MFI.1994.398375","DOIUrl":"https://doi.org/10.1109/MFI.1994.398375","url":null,"abstract":"A robot hand must provide the multidegree of freedom mechanism and multisensor processing system to realize the dexterous handling motion. In this paper, a new sensory control method of the robot hand is proposed, for the shaping of a flexible and a plastic objects such as clay to a given shape, by using the sensor fusion processing. In this paper, the two types of hand mechanisms are introduced, they are the palm hand and the pair hand which provide the force and matrix tactile sensors. By the experiments of shaping a lump of clay to a sphere or a cube, the effectiveness of the method is confirmed.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128692648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Real-time data fusion processing of internetted acoustic sensors for tactical applications 战术用互联声传感器实时数据融合处理
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398420
D. C. Swanson, D. Hall
{"title":"Real-time data fusion processing of internetted acoustic sensors for tactical applications","authors":"D. C. Swanson, D. Hall","doi":"10.1109/MFI.1994.398420","DOIUrl":"https://doi.org/10.1109/MFI.1994.398420","url":null,"abstract":"Recent advances in acoustic sensors, microprocessors, local wireless communications, and low-cost global positioning satellite (GPS) receivers allow the creation of acoustic sensor networks for target detection, tracking, and identification. In particular we describe the concept of robust acoustic sensors that exhibit the ability for self-calibration and self-location. Use of such sensors in a wireless, internetted development provides accurate multi-sensor target tracking and classification. This paper describes the concept and design of such sensors and networks. Particular attention is paid to how the environment affects the sensor performance and system performance. Initial simulator results are presented.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126151498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Position control of vision based robot hand-fusion of 2-D image and discrete range image by multi-agent 基于视觉的机器人位置控制——基于多智能体的二维图像与离散距离图像融合
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398433
K. Nakazawa, T. Oshita
{"title":"Position control of vision based robot hand-fusion of 2-D image and discrete range image by multi-agent","authors":"K. Nakazawa, T. Oshita","doi":"10.1109/MFI.1994.398433","DOIUrl":"https://doi.org/10.1109/MFI.1994.398433","url":null,"abstract":"Robot vision is very useful for correcting the absolute position error during position control of a robot hand. However it still has difficulties in practical use. The objective of the authors' research is to design a stable vision sensor system used for a space robot, by the method of sensor fusion with multi-agents, which is very effective in the actual environment. By this approach, the system will be able to adapt to environmental alterations.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127453076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Contact state detection by force sensing for assembly tasks 装配任务的力传感接触状态检测
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398431
K. Kitagaki, T. Ogasawara, T. Suehiro
{"title":"Contact state detection by force sensing for assembly tasks","authors":"K. Kitagaki, T. Ogasawara, T. Suehiro","doi":"10.1109/MFI.1994.398431","DOIUrl":"https://doi.org/10.1109/MFI.1994.398431","url":null,"abstract":"This paper describes a new way to detect the contact state of an end-effector and the environment by force sensing, which is a useful technique for very small motions. It estimates the position of the contact point first, and then it detects the transition of the contact state. This sequence is implemented on an edge mating task, which is a simple but important fundamental task. The contact position is estimated with two sets of observed relative force and moment, and the forces to be applied for the estimation are determined based on the singular value decomposition technique. Transition detection is achieved by monitoring the relation between observed force and moment. Experiments demonstrate the effectiveness of this technique, which is robust against force noise caused by friction and the characteristics of the manipulator control.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131656538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Fuzzy logic based robot navigation in uncertain environments by multisensor integration 基于模糊逻辑的多传感器不确定环境下机器人导航
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398444
Wei Li
{"title":"Fuzzy logic based robot navigation in uncertain environments by multisensor integration","authors":"Wei Li","doi":"10.1109/MFI.1994.398444","DOIUrl":"https://doi.org/10.1109/MFI.1994.398444","url":null,"abstract":"This paper presents a strategy for fuzzy logic based robot navigation in uncertain environments by multisensor integration. The main idea of the study is to coordinate conflicts and competitions among multiple reactive behaviors efficiently by fuzzy sets and a rule base. To achieve this objective, an array of ultrasonic sensors and a vision system are mounted on a mobile robot. The ultrasonic sensors provide distance information between the robot and obstacles for behavior control of the mobile robot, while the vision system identifies some subgoals for determining a good motion direction to avoid robot trap in local region. The simulation results show that the proposed strategy, by integrating ultrasonic sensors and the vision system, can be efficiently applied to robot navigation in complex and uncertain environments by using different behaviors, such as avoiding obstacles, decelerating at curved and narrow roads, escaping from a U-shaped object, and moving to a target.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"54 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120928214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 43
Sensor selection in a fusion process: a fuzzy approach 融合过程中的传感器选择:一种模糊方法
Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI: 10.1109/MFI.1994.398399
C. Giraud, B. Jouvencel
{"title":"Sensor selection in a fusion process: a fuzzy approach","authors":"C. Giraud, B. Jouvencel","doi":"10.1109/MFI.1994.398399","DOIUrl":"https://doi.org/10.1109/MFI.1994.398399","url":null,"abstract":"This paper addresses the problem of sensor selection during automatic tasks, such as data fusion or sensing process, and the design of a perceptual system for a mobile robot. The authors propose an approach based on the fuzzy set theory. The process of selection uses a fuzzy preference concept from a criteria set defined by a given task. A mechanism of preference is applied to a sensor, and a technique of aggregation based on the Choquet integrator allows one to define a preference for a set of criteria. We build a preference graph to choose the appropriate sensor or to define the equivalent classes of sensors. After a brief recall on the fuzzy set theory, the selection method is explained and an example is detailed to illustrate the method.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126264460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
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