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Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)最新文献

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An optimal image selection from multiple cameras under the limitation of communication capacity 在通信容量有限的情况下，从多个摄像机中选择最优图像
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.816000
G. Chu, M. Chung
{"title":"An optimal image selection from multiple cameras under the limitation of communication capacity","authors":"G. Chu, M. Chung","doi":"10.1109/MFI.1999.816000","DOIUrl":"https://doi.org/10.1109/MFI.1999.816000","url":null,"abstract":"In general, a tele-monitoring system is composed of a number of cameras to obtain an adequate and continuous visual information of the environment. However, capturing every image is not always helpful for the operator to understand the state of environment; it may also not be able to transfer all of them to the operator due to the limitation of communication capability. Therefore, when multiple cameras were used for the tele-monitoring systems, the usefulness of image should be calculated, and then, the most useful image should be transferred for the operator to grasp the situation. In this paper, we consider the visibility constraint as a criterion for the computation of the usefulness of image, and propose the spherical projection method for the fast computation of the visibility region. The results of simulation and experiment show that the determination of the optimal image using the visibility constraint is helpful for the automation of the tele-monitoring systems under the limitation of communication capacity.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122567795","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
Continuous valued Q-learning for vision-guided behavior acquisition 视觉引导行为习得的连续q值学习
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815999
Y. Takahashi, M. Takeda, M. Asada
{"title":"Continuous valued Q-learning for vision-guided behavior acquisition","authors":"Y. Takahashi, M. Takeda, M. Asada","doi":"10.1109/MFI.1999.815999","DOIUrl":"https://doi.org/10.1109/MFI.1999.815999","url":null,"abstract":"Q-learning, a most widely used reinforcement learning method, normally needs well-defined quantized state and action spaces to converge. This makes it difficult to be applied to real robot tasks because of poor performance of learned behavior and a further problem of state space construction. This paper proposes a continuous valued Q-learning for real robot applications, which calculates the contribution values for estimating a continuous action value in order to make motion smooth and effective. The proposed method obtained a better performance of desired behavior than the conventional real-valued Q-learning method, with roughly quantized state and action. To show the validity of the method, we applied the method to a vision-guided mobile robot of which the task is to chase a ball. Although the task was simple, the performance was quite impressive. A further improvement is discussed.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124643088","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: 54
Kalman filter with time-variable gain for a multisensor fusion system 多传感器融合系统的时变增益卡尔曼滤波
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815965
S. Niwa, T. Masuda, Y. Sezaki
{"title":"Kalman filter with time-variable gain for a multisensor fusion system","authors":"S. Niwa, T. Masuda, Y. Sezaki","doi":"10.1109/MFI.1999.815965","DOIUrl":"https://doi.org/10.1109/MFI.1999.815965","url":null,"abstract":"The development of the sensor fusion algorithm for visual control of mobile robots is presented. The visual sensor gives many kinds of valuable information and is especially important for the autonomously controlled mobile robots. The output data from the visual sensor include a time-lag due to the image processing computation. Moreover, in most cases, the sampling rate of the visual sensor is considerably low so that it should be used with other sensors to control fast motion. The method developed enables the sensor fusion system to give the optimal state estimates. A kind of multi-rate Kalman filter which treats the slow sampling rate data from visual sensor is applied for the construction of the sensor fusion system. An important feature of the multi-rate version of Kalman filter is the use of time-varying filter gain matrix. An experimental mobile robot is developed to realize the sensor fusion system combined with a vision sensor system and an inertial sensor system.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121825886","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: 18
Object shape recovery in lateral navigation system using motion stereo technique 基于运动立体技术的横向导航系统目标形状恢复
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.816002
M. Park, M. Mozerov, D.Y. Kim, K. Roh, T.S. Chui
{"title":"Object shape recovery in lateral navigation system using motion stereo technique","authors":"M. Park, M. Mozerov, D.Y. Kim, K. Roh, T.S. Chui","doi":"10.1109/MFI.1999.816002","DOIUrl":"https://doi.org/10.1109/MFI.1999.816002","url":null,"abstract":"A computationally efficient pyramid adaptive algorithm based on Fourier local phase matching is proposed to compute precise depth estimates in lateral navigation system for motion stereo. In general, the motion stereo uses the intensity value as the matching primitive. To decrease the computational depth error, when the brightness of each moving picture is highly variable, we developed a method for the motion stereo using the phase of Gabor filters instead of intensity. In order to implement the motion stereo more efficiently, hierarchical method is also used consisting of pyramidal data sequences. We present the experimental results demonstrating that our method gives more accurate depth estimates than the motion stereo algorithm based on intensity matching.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123329644","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: 4
Implementation of Stewart platform based force-torque sensor 基于Stewart平台的力-扭矩传感器的实现
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815961
T. Dwarakanath, T.K. Bhaumick, D. Venkatesh
{"title":"Implementation of Stewart platform based force-torque sensor","authors":"T. Dwarakanath, T.K. Bhaumick, D. Venkatesh","doi":"10.1109/MFI.1999.815961","DOIUrl":"https://doi.org/10.1109/MFI.1999.815961","url":null,"abstract":"This paper deals with the development and implementation of a force-torque sensor based on the Stewart platform structure. The kinematic design is obtained based on minimum condition number criteria. Maximization of the signal to noise ratio is considered at various stages in arriving at various component shapes and dimensions. The interface and instrumentation design is also developed and discussed. Several experiments were carried out and the results are discussed. A peg in a hole experiment conducted in a force feedback loop demonstrates the implementation of force-torque sensors.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129871804","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: 11
Sound source localization and signal separation for office robot "JiJo-2" 办公机器人JiJo-2的声源定位与信号分离
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815997
F. Asano, H. Asoh, T. Matsui
{"title":"Sound source localization and signal separation for office robot \"JiJo-2\"","authors":"F. Asano, H. Asoh, T. Matsui","doi":"10.1109/MFI.1999.815997","DOIUrl":"https://doi.org/10.1109/MFI.1999.815997","url":null,"abstract":"A method of sound source localization and source separation for the sound sources in the near-field range is described in this paper. For the sound localization, the subspace method was employed to obtain a high resolution which is necessary for the range estimation with a small-sized array. The modified MVBF with the estimated localization information was used for signal separation. In an experiment conducted in a middle-sized meeting room, 60-70% of word recognition rate was achieved.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123782892","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: 62
Image servo path tracking control of a laser light point 激光光点的图像伺服路径跟踪控制
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815968
K. Lin
{"title":"Image servo path tracking control of a laser light point","authors":"K. Lin","doi":"10.1109/MFI.1999.815968","DOIUrl":"https://doi.org/10.1109/MFI.1999.815968","url":null,"abstract":"The image servo path tracking (ISPT) control of a laser light point (LLP) is studied. The tasks in this study include the extraction of the images of a LLP and a path from the background scene, the skeletonization of the path image, and the development of a control algorithm to assure LLP tracking along the path. A modified version of the thinning algorithm SPTA is proposed. The proposed algorithm skeletonizes the path in a piecewise manner. It can take less computer time for the path skeletonization than the original SPTA and can be extended for a path with a growing end or even for an out-of-the-scene path. Included in the paper is also an experimental study to demonstrate how to realize the ISPT control in practice.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131383109","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: 2
Multisensor data fusion for skill transfer systems 用于技能转移系统的多传感器数据融合
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815983
R. Cortesão, R. Koeppe
{"title":"Multisensor data fusion for skill transfer systems","authors":"R. Cortesão, R. Koeppe","doi":"10.1109/MFI.1999.815983","DOIUrl":"https://doi.org/10.1109/MFI.1999.815983","url":null,"abstract":"The paper describes the design of a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is given to achieve a \"model-free\" equation capable of following arbitrary variables. A stochastic approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and can easily be extended to any arbitrary system. It was successfully tested in The Institute of Robotics and System Dynamics at the DLR.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123980530","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: 1
Sensory motor control of wing beat in locust 蝗虫翅拍的感觉运动控制
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815992
S.X. Yang, M. Meng
{"title":"Sensory motor control of wing beat in locust","authors":"S.X. Yang, M. Meng","doi":"10.1109/MFI.1999.815992","DOIUrl":"https://doi.org/10.1109/MFI.1999.815992","url":null,"abstract":"In this paper, a neural network architecture is proposed for sensory motor control of wing beat in a locust. The proposed neural network model is based on the neural anatomy and function of the neurons and sense organs involved in the flight control of wing beat in a locust. This model consists of a central pattern generator and a sensory motor network. Both the central nervous mechanisms and the sensory feedback are essential for the generation of the rhythmic output in the motoneuron. A larger input amplitude results in a higher frequency of the central pattern generator signal through a shorter down-strike duration. The feedback from sensory organs increase the wing beat frequency by generating an early, rapid increasing component and by modifying the late component of the elevator motoneuron activity. The model predictions are in qualitative agreement with the corresponding data.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128328873","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: 1
A neuro-fuzzy solution for integrated visual and force control 视觉与力控集成的神经模糊解决方案
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-15 DOI: 10.1109/MFI.1999.815978
Y. von Collani, C. Scheering, J. Zhang, A. Knoll
{"title":"A neuro-fuzzy solution for integrated visual and force control","authors":"Y. von Collani, C. Scheering, J. Zhang, A. Knoll","doi":"10.1109/MFI.1999.815978","DOIUrl":"https://doi.org/10.1109/MFI.1999.815978","url":null,"abstract":"In this paper the use of a B-spline neuro-fuzzy model for different tasks such as vision-based fine positioning using uncalibrated cameras and force control is presented. It is shown that neuro-fuzzy controllers can be used not only for low-dimensional problems like force control but also for high-dimensional problems like vision-based sensorimotor control and for fusing input from different sensors. Controllers of this type can be modularly combined to solve a given assembly problem.","PeriodicalId":148154,"journal":{"name":"Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124673115","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
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