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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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Tracking players and a ball in soccer games 在足球比赛中追踪球员和球
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.1999.815980
Y. Ohno, J. Miurs, Y. Shirai
{"title":"Tracking players and a ball in soccer games","authors":"Y. Ohno, J. Miurs, Y. Shirai","doi":"10.1109/MFI.1999.815980","DOIUrl":"https://doi.org/10.1109/MFI.1999.815980","url":null,"abstract":"In ball games, understanding the movement of players and a ball is essential to analyze matches and tactics. In this paper, we present a system to track soccer players and a ball by using color information from video images. First, our system extracts regions of shirt and pants of each player. It tracks soccer players based on the regions. It copes with the variations of posture and occlusion of players. The ball is too small and fast to extract regions only by color. The system extracts candidate regions for a ball based on both color and time difference image, and tracks the ball using constraint of motion. It maps the position of players and the ball in the image onto that on the field. Experimental results on real image sequences show the effectiveness of this 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":"9 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":"123539827","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
Real-time 3D flow generation system 实时三维流生成系统
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.1999.815996
S. Kagami, K. Okada, M. Inaba, H. Inoue
{"title":"Real-time 3D flow generation system","authors":"S. Kagami, K. Okada, M. Inaba, H. Inoue","doi":"10.1109/MFI.1999.815996","DOIUrl":"https://doi.org/10.1109/MFI.1999.815996","url":null,"abstract":"3D flow enables one to detect moving objects while the robot is also moving. This paper describes 3D flow generation by combining depth map generation and 2D optical flow generation. Then three key issues: (1) recursive calculation technique, (2) cache optimization, (3) MMX instruction set, make real-time depth map/2D optical flow generation possible. Further experiments and evaluation are described.","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":"22 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":"114595021","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
A framework for evaluating fusion operators based on the theory of generalized quantifiers 基于广义量词理论的融合算子评价框架
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.1999.815977
I. Glockner, A. Knoll
{"title":"A framework for evaluating fusion operators based on the theory of generalized quantifiers","authors":"I. Glockner, A. Knoll","doi":"10.1109/MFI.1999.815977","DOIUrl":"https://doi.org/10.1109/MFI.1999.815977","url":null,"abstract":"Fuzzy linguistic quantifiers have gained importance as operators for information combination and the fusion of gradual evaluations. They are particularly appealing because of their ease-of-use: people are familiar with these operators in the same way as in everyday language. However, work on mathematical foundations and linguistic justification of fuzzy linguistic quantifiers is scarce. In the paper, we propose a framework for evaluating approaches to fuzzy quantification which relates these to the logic-linguistic theory of generalized quantifiers. By reformulating these approaches as fuzzification mechanisms, we can investigate properties of the fuzzification mappings which express important aspects of the meaning of natural language quantifiers.","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":"121601190","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: 7
A new flexible 2D-image reconstruction in computed tomography based on non-uniform sampling theorem for spatially band-limited signals 一种基于非均匀采样定理的二维图像重构方法
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.1999.815964
K. Sasaki
{"title":"A new flexible 2D-image reconstruction in computed tomography based on non-uniform sampling theorem for spatially band-limited signals","authors":"K. Sasaki","doi":"10.1109/MFI.1999.815964","DOIUrl":"https://doi.org/10.1109/MFI.1999.815964","url":null,"abstract":"After a brief review of the ordinary sampling theorem for bandlimited signals, the non-uniform sampling theorem is given, together with the condition for no aliasing error being made clear. Based on the fundamentals, a new flexible method of 2D-image reconstruction from restricted projection data in computed tomography is proposed, that can flexibly reconstruct the precise 2D-images from broad kinds of nonuniform projections collected speedily without any explicit 1D/2D-interpolation of data or image restoration techniques. The principle as well as the effectiveness of the proposed method are confirmed through numerical experiments with assumed distributions of absorption rates about objects in computed X-ray tomography.","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":"14 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":"128917593","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
Preventive sensing planning for robotic assembly 机器人装配的预防性传感规划
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.1999.815984
S.E. Conant Pablos, K. Ikeuchi
{"title":"Preventive sensing planning for robotic assembly","authors":"S.E. Conant Pablos, K. Ikeuchi","doi":"10.1109/MFI.1999.815984","DOIUrl":"https://doi.org/10.1109/MFI.1999.815984","url":null,"abstract":"This paper presents our approach of systematically generating preventive sensing plans from the specification of robotic assembly tasks. The sensing strategies are based on the identification of the \"critical dimensions\" for the assembly tasks. The recognition of such dimensions comes from a model-based task-oriented analysis of the contact relations among the manipulated objects and the environment, and the change in their degrees of motion freedom. The sensing strategies are evaluated by their ability to maximize a predicted success probability.","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":"9 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":"123083034","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
Data reduction for optical 3D-inspection in automotive application 用于汽车光学3d检测的数据简化
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.1999.815982
R. Dillmann, S. Vogt, A. Zilker
{"title":"Data reduction for optical 3D-inspection in automotive application","authors":"R. Dillmann, S. Vogt, A. Zilker","doi":"10.1109/MFI.1999.815982","DOIUrl":"https://doi.org/10.1109/MFI.1999.815982","url":null,"abstract":"Advances in optical sensors, computer graphics, and robotics provide new technology for the processes in styling, design, and quality management. They are used in optical inspection and reverse engineering to speed up the development process. One of the challenges of these new technologies for Daimler-Chrysler is the coupling to current CAD systems. The 3D data obtained from fast optical sensors have to be post-processed before they can be transferred to a commercial computer aided design system due to data format and the amount of the measured data. Reducing the measured data can remove important information or lower the accuracy of the data. This paper describes current and two new reduction algorithms for optical 3D data. It illustrates the need of data reduction in an application: a historic Mercedes Benz racing car is measured by a optical sensor delivering 98.3 million points. They are reduced down to 1 million points for reverse engineering of the car body surface.","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":"96 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":"134295129","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
Soft viscoelastic robot skin capable of accurately sensing contact location of object 能够准确感知物体接触位置的柔性粘弹性机器人皮肤
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.1999.815973
Y. Yamaha, Y. Iwanaga, M. Fukunaga, N. Fujimoto, E. Ohta, T. Morizono, Y. Umetani
{"title":"Soft viscoelastic robot skin capable of accurately sensing contact location of object","authors":"Y. Yamaha, Y. Iwanaga, M. Fukunaga, N. Fujimoto, E. Ohta, T. Morizono, Y. Umetani","doi":"10.1109/MFI.1999.815973","DOIUrl":"https://doi.org/10.1109/MFI.1999.815973","url":null,"abstract":"The study concerns development of a robot skin which is capable of accurately sensing the contact location of an object, taking advantage of the soft skin surface made of gel which allows the skin to make an areal contact with the object. There has been no report on tactile sensing which attained not only skin deformation detection but also contact object location sensing of high accuracy. First, we show in the paper the structure of the robot skin, with 15 tiny reflector chips arranged in a matrix form on the skin surface. Second, we describe the principle of sensing the contact location of an object-both optically detecting the positions of the reflector chips which corresponds to the deformation of the skin surface of gel being pressed by an object and fitting the planes of the object from the deformation data assuming the object to be a convex polygon. The robot skin is characterized by a skin surface which is low in cost and easily replaceable, and the sensing performance is robust against any electromagnetic disturbance. Third, we report some experiments conducted for verifying the above principles as well as accurately detecting the position of the reflector chip from which the covariance matrix of detection errors was computed, and sensing the location of a wedge-shaped object. For evaluating the accuracy, comparisons are made between the real convex angle of the object and the estimated polygon, as well as between the real motion of the object and the estimated motion.","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":"33 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":"133904584","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: 24
Combining eye-in-hand visual servoing and force control in robotic tasks using the task frame 利用任务框架将眼手视觉伺服与机器人任务力控制相结合
Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480) Pub Date : 1999-08-01 DOI: 10.1109/MFI.1999.815979
J. Baeten, H. Bruyninckx, J. De Schutter
{"title":"Combining eye-in-hand visual servoing and force control in robotic tasks using the task frame","authors":"J. Baeten, H. Bruyninckx, J. De Schutter","doi":"10.1109/MFI.1999.815979","DOIUrl":"https://doi.org/10.1109/MFI.1999.815979","url":null,"abstract":"This paper shows how to use Mason's compliance frame or task frame to model, implement and execute robotic tasks which combine force control and visual servoing in an uncalibrated workspace. Both vision and force sensors are mounted on the manipulator. Hence, the vision algorithms benefit from the known depth to the contact point, when operating under force controlled contact. The sensor data is fused in a hybrid position/force control scheme with internal velocity controller. The fusing method depends on the high level task description. Experimental results are presented to validate the approach.","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":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134507209","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: 16
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