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2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)最新文献

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Visual detection of objects in a robotic work area using hand gestures 使用手势对机器人工作区域内的物体进行视觉检测
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058529
S. V. Delden, Michael A. Umrysh
{"title":"Visual detection of objects in a robotic work area using hand gestures","authors":"S. V. Delden, Michael A. Umrysh","doi":"10.1109/ROSE.2011.6058529","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058529","url":null,"abstract":"A system for rapidly developing industrial robotic applications with visual hand gestures and voice commands is being developed. This paper reports on the hand gesture recognition component of the system which has been designed and implemented in C# using OpenCV. Seventy two test subjects interacted with the hand gesture component of the system and the empirical results of these experiments are reported. Screenshots of the hand gesture component are presented as well as known system limitations.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126451575","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: 14
A comparative evaluation of multimodal dense stereo correspondence measures 多模态密集立体对应测度的比较评价
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058540
Atousa Torabi, Mahya Najafianrazavi, Guillaume-Alexandre Bilodeau
{"title":"A comparative evaluation of multimodal dense stereo correspondence measures","authors":"Atousa Torabi, Mahya Najafianrazavi, Guillaume-Alexandre Bilodeau","doi":"10.1109/ROSE.2011.6058540","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058540","url":null,"abstract":"In this paper, we compare the behavior of four viable dense stereo correspondence measures, which are Normalized Cross-Correlation (NCC), Histograms of Oriented Gradients (HOG), Mutual Information (MI), and Local Self-Similarity (LSS), for thermal-visible human monitoring. Our comparison is based on a Winner Take All (WTA) box matching stereo method. We evaluate the accuracy and the discriminative power of each correspondence measure using challenging thermal-visible pairs of video frames of different people with different poses, clothing, and distances to cameras for close-range human monitoring applications.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133535262","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: 15
Visual tracking of small animals based on real-time Level Set Method with fast infra-red thermographic imaging 基于快速红外热成像实时水平集方法的小动物视觉跟踪
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058543
M. Mayya, C. Doignon
{"title":"Visual tracking of small animals based on real-time Level Set Method with fast infra-red thermographic imaging","authors":"M. Mayya, C. Doignon","doi":"10.1109/ROSE.2011.6058543","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058543","url":null,"abstract":"In this paper, we present a long-term monitoring of moving and high deformable objects with fast thermographic infrared imaging, in a process of developing an automated image analysis of laboratory animals' postures and activities. For this several days tracking, we tackle the object deformations with a model-based articulated body parts scheme and the two-stage tracking and segmentation technique is performed through a Kalman filtering associated to a level-set method. The latter is the main contribution of the paper (with also the contours classification of each body parts) since the proposed segmentation is robust to noise and heat places and can easily be parallelized and executed in real-time. Each body part is modelled with a set of geometrical descriptors with mutual interactions. The advantage of such method is not only to separate the dynamics of the whole object motion from those of body parts deformations but it also allows to extract apparent postural information to further produce a model of animal behaviour.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129148761","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: 8
Entropy filter for anomaly detection with eddy current remote field sensors 涡流远场传感器异常检测的熵滤波
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058542
D. Spinello, W. Gueaieb, Roderick Lee
{"title":"Entropy filter for anomaly detection with eddy current remote field sensors","authors":"D. Spinello, W. Gueaieb, Roderick Lee","doi":"10.1109/ROSE.2011.6058542","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058542","url":null,"abstract":"We consider the problem of extracting a specific feature from a noisy signal generated by a multi-channels Remote Field Eddy Current Sensor. The sensor is installed on a mobile robot whose mission is the detection of anomalous regions in metal pipelines. Given the presence of noise that characterizes the data series, anomaly signals could be masked by noise and therefore difficult to identify in some instances. In order to enhance signal peaks that potentially identify anomalies we consider an entropy filter built on a-posteriori probability density functions associated with data series. Thresholds based on the Neyman-Pearson criterion for hypothesis testing are derived. The algorithmic tool is applied to the analysis of data from a portion of pipeline with a set of anomalies introduced at predetermined locations. Critical areas identifying anomalies capture the set of damaged locations, demonstrating the effectiveness of the filter in detection with Remote Field Eddy Current Sensor.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123374001","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
Supervised pose and motion estimation over weakly textured industrial objects 弱纹理工业对象的监督姿态和运动估计
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058546
Valentin Borsu, P. Payeur
{"title":"Supervised pose and motion estimation over weakly textured industrial objects","authors":"Valentin Borsu, P. Payeur","doi":"10.1109/ROSE.2011.6058546","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058546","url":null,"abstract":"Visually estimating the motion of automotive body parts over an assembly line represents a major challenge for classical feature detection, matching and tracking algorithms due to the lack of a rich surface texture. But as feature extraction and matching remain vital for accurate object pose and motion estimation, this paper presents a thorough investigation on the actual reliability of popular feature extraction and matching tools in terms of stability and robustness for industrial applications. Severe tracking errors that result from brightness variations and occlusions are corrected with the integration of an original supervisory approach that relies on the encoding of a minimum amount of a priori information about the general appearance of the objects. The proposed solution is experimentally validated on an application for quality control in the automotive industry.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127513879","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
A direct approach for face detection on omnidirectional images 一种基于全向图像的直接人脸检测方法
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058532
Y. Dupuis, X. Savatier, J. Ertaud, P. Vasseur
{"title":"A direct approach for face detection on omnidirectional images","authors":"Y. Dupuis, X. Savatier, J. Ertaud, P. Vasseur","doi":"10.1109/ROSE.2011.6058532","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058532","url":null,"abstract":"Catadioptric sensors offer abilities unexploited so far. This is especially true for face detection, and more generally, object detection. This paper presents our results of a direct approach to tackle face detection on catadioptric images. Despite no geometrical transformations, we are able to successfully apply our detector on distorted images. We expose a new method to synthesize large omnidirectional images database. Inspired from regular face detection training schemes, our method makes use of newly introduced polygonal Haar-like features. First tests demonstrated that our approach gives good performance and at the same time speeds up the detection process.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114438406","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
Adaptive manipulation of a Hybrid Mechanism Mobile Robot 混合机构移动机器人的自适应操纵
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058520
P. Moubarak, P. Ben-Tzvi
{"title":"Adaptive manipulation of a Hybrid Mechanism Mobile Robot","authors":"P. Moubarak, P. Ben-Tzvi","doi":"10.1109/ROSE.2011.6058520","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058520","url":null,"abstract":"This paper reports experimental and analytical results of a Hybrid Mechanism Mobile Robot (HMMR) designed for field and military applications. The HMMR presented in this paper constitutes the second generation of a mobile robot that combines locomotion with manipulation in a symmetric invertible platform. The experimental results highlight the ability of the robot to operate in an unstructured environment and overcome obstacles that are much taller than its folded structure. The analytical results on the other hand reflect the ability of the robot to adapt the arm's posture to the magnitude of the external load during manipulation in order to prevent tip-over instability. This adaptability is controlled by an optimization algorithm that updates the position of the mobile base with respect to the object, and accordingly, calculates a global arm configuration that minimizes the eccentricity of the external loading and maximizes the payload capacity of the arm.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128734915","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: 13
Foodball: Emergent resource gathering in collective robotic environments Foodball:集体机器人环境中的紧急资源收集
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058537
R. Cioarga, M. Micea, V. Cretu, Andrei Banc, V. Groza
{"title":"Foodball: Emergent resource gathering in collective robotic environments","authors":"R. Cioarga, M. Micea, V. Cretu, Andrei Banc, V. Groza","doi":"10.1109/ROSE.2011.6058537","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058537","url":null,"abstract":"Robotic collectives have been a very popular research topic in the last years. Also, applying emergent behavior patterns to such collectives has been similarly popular. This article introduces a mathematical model for resource gathering applications which is based on the study of ant colonies and validates it by simulating it inside Microsoft Robotics Studio simulator. The model is based on the implementation of a new emergent pattern, called “patrol”. During the course of the simulations, another emergent behavior pattern, called “Foodball”, is studied.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133037037","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
Black-box optimization of sensor placement with elevation maps and probabilistic sensing models 基于高程图和概率感知模型的传感器放置黑盒优化
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058544
V. Akbarzadeh, Christian Gagné, M. Parizeau, M. Mostafavi
{"title":"Black-box optimization of sensor placement with elevation maps and probabilistic sensing models","authors":"V. Akbarzadeh, Christian Gagné, M. Parizeau, M. Mostafavi","doi":"10.1109/ROSE.2011.6058544","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058544","url":null,"abstract":"This paper proposes a framework for the optimization of sensor placement. Traditional schemes rely on simple sensor behaviours and environmental factors. The consequences of these oversimplifications are unrealistic simulation of sensor performance and, thus, suboptimal sensor placement. In this paper, we develop a novel framework to tackle the sensor placement problem using a probabilistic coverage and corresponding membership functions for sensing range and sensing angle, which takes into consideration sensing capacity probability as well as critical environmental factors such as terrain topography. We then implement several optimization schemes for sensor placement optimization, including simulated annealing, L-BFGS, and CMA-ES.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121185996","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: 15
Omnidirectional catadioptric image unwrapping via total variation regularization 全变分正则化全向反射图像展开
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058508
Pierre-Louis Bourgeois, P. Rodríguez, N. Ragot
{"title":"Omnidirectional catadioptric image unwrapping via total variation regularization","authors":"Pierre-Louis Bourgeois, P. Rodríguez, N. Ragot","doi":"10.1109/ROSE.2011.6058508","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058508","url":null,"abstract":"A catadioptric sensor is composed of a hyperbolic mirror coupled with a camera. The registered images with such sensor have a field of view of 360 degrees; this property is very useful in robotics since it increases a robot's performance for navigation and localization. However, due to the significant distortions on the omnidirectional image, classical image processing can not be directly applied onto the image. The standard techniques to unwrap catadioptric images involve a projection step follow by an interpolation step. In this paper we propose to unwrap omnidirectional images via Total Variation (TV) regularization by casting the geometric projection as the forward operator. This has two advantages: if the acquired images are noisy (due to dust onto the mirror or wireless transmission errors), the noise can be effectively remove while the unwrapping step is performed; moreover if the mirror or camera's lenses have any type of aberrations they could be included as part of the forward operator and then compare the standard unwrapping method with our proposed (TV based) method and show the superior reconstruction quality of the proposed method when the acquired images are corrupted with salt-and-pepper noise.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114311213","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
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