Using Active Vision to Simplify Perception for Robot Driving PDF Download

Author: Carnegie-Mellon University. Computer Science Dept
Publisher:
ISBN:
Category : Mobile robots
Languages : en
Pages : 44

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Book Description
This selective vision is based on an understanding and analysis of the driving task. We illustrate the effectiveness of request-driven routines by comparing the computational cost of general scene analysis with that of selective vision in simulated driving situations."

Author: Dimitri Ognibene
Publisher: Frontiers Media SA
ISBN: 2889745996
Category : Science
Languages : en
Pages : 192

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Book Description

Author: Grotz, Markus
Publisher: KIT Scientific Publishing
ISBN: 3731511010
Category : Computers
Languages : en
Pages : 202

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Book Description
Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot's view in order to explore interaction possibilities of the scene.

Author: Arun K. Sood
Publisher: Springer Science & Business Media
ISBN: 3642772250
Category : Computers
Languages : en
Pages : 747

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Book Description
Intelligent robotics has become the focus of extensive research activity. This effort has been motivated by the wide variety of applications that can benefit from the developments. These applications often involve mobile robots, multiple robots working and interacting in the same work area, and operations in hazardous environments like nuclear power plants. Applications in the consumer and service sectors are also attracting interest. These applications have highlighted the importance of performance, safety, reliability, and fault tolerance. This volume is a selection of papers from a NATO Advanced Study Institute held in July 1989 with a focus on active perception and robot vision. The papers deal with such issues as motion understanding, 3-D data analysis, error minimization, object and environment modeling, object detection and recognition, parallel and real-time vision, and data fusion. The paradigm underlying the papers is that robotic systems require repeated and hierarchical application of the perception-planning-action cycle. The primary focus of the papers is the perception part of the cycle. Issues related to complete implementations are also discussed.

Author: Kevin Bowyer
Publisher: World Scientific
ISBN: 9814504432
Category : Computers
Languages : en
Pages : 200

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Book Description
Contents:Editorial (H I Christensen et al.)The Harvard Binocular Head (N J Ferrier & J J Clark)Heads, Eyes, and Head-Eye Systems (K Pahlavan & J-O Eklundh)Design and Performance of TRISH, a Binocular Robot Head with Torsional Eye Movements (E Milios et al.)A Low-Cost Robot Camera Head (H I Christensen)The Surrey Attentive Robot Vision System (J R G Pretlove & G A Parker)Layered Control of a Binocular Camera Head (J L Crowley et al.)SAVIC: A Simulation, Visualization and Interactive Control Environment for Mobile Robots (C Chen & M M Trivedi)Simulation and Expectation in Sensor-Based Systems (Y Roth & R Jain)Active Avoidance: Escape and Dodging Behaviors for Reactive Control (R C Arkin et al.) Readership: Engineers and computer scientists. keywords:Active Vision;Robot Vision;Computer Vision;Model-Based Vision;Robot Navigation;Reactive Control;Robot Motion Planning;Knowledge-Based Vision;Robotics

Author: Erik Valdemar Cuevas Jiménez
Publisher: Cuvillier Verlag
ISBN: 3867271089
Category : Computers
Languages : en
Pages : 229

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Book Description
In this paper, an active vision system is developed which is based on image strategy. The image based control structure uses the optical flow algorithm for motion detection of an object in a visual scene. Because the optical flow is very sensitive to changes in illumination or to the quality of the video, it was necessary to use median filtering and erosion and dilatation morphological operations for the decrease of erroneous blobs residing in individual frames. Since the image coordinates of the object are subjected to noise, the Kalman filtering technique is adopted for robust estimation. A fuzzy controller based on the fuzzy condensed algorithm allows real time work for each captured frame. Finally, the proposed active vision system has been simulated in the development/simulation environment Matlab/Simulink.

Author: Jake Richard Gemerek
Publisher:
ISBN:
Category :
Languages : en
Pages : 165

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Book Description
Active vision and perception for resource-constrained autonomous vehicles, such as small ground robots and quadrotors, are limited in their allowable algorithmic complexity and slow reaction times. For an autonomous mobile robot to safely and reliably perform a useful task or behavior, real-time visual perception that informs a controller with a fast reaction time is needed. This dissertation covers new research developments in the areas of active vision, planning, and control for directional sensors with a focus on event-cameras and RGB cameras. Event-cameras, also known as neuromorphic cameras, are biologically inspired visual sensors that measure local changes in light intensity, mitigating latency and redundant data. Several high-level active vision algorithms, interfaced with autonomous vehicle controllers, are developed for event-cameras and quantitatively compared to analogous RGB camera algorithms, in terms of both accuracy and computational cost. In particular, motion-based perception algorithms for object recognition and tracking, action recognition, and depth estimation are developed for use on a moving quadrotor tasked with reacting to the perceived environment. Novel active vision algorithms for RGB cameras are also developed in which an autonomous ground vehicle or quadrotor interact with a human target of interest using novel action recognition and tracking perception capabilities paralleled with new control methods for target following. Furthermore, a novel occlusion-avoiding path planning algorithm that is applicable to both event-cameras and RGB cameras is developed. The proposed method computes a closed-form collection of subsets of the sensor's configuration space, referred to as visibility regions, that quantify the visibility of targets subject to the sensor field of view geometry and line of sigh visibility. This method is quantitatively compared to several existing sensor path planning methods in terms of analytical computational complexity, experimental path performance, and experimental computational cost analysis. The results of this work enable active vision, perception, and planning for resource-constrained mobile robots equipped with directional sensors such as an event-camera or RGB camera.

Author: Rui Fan
Publisher: Springer Nature
ISBN: 981994287X
Category : Technology & Engineering
Languages : en
Pages : 391

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Book Description
Discover the captivating world of computer vision and deep learning for autonomous driving with our comprehensive and in-depth guide. Immerse yourself in an in-depth exploration of cutting-edge topics, carefully crafted to engage tertiary students and ignite the curiosity of researchers and professionals in the field. From fundamental principles to practical applications, this comprehensive guide offers a gentle introduction, expert evaluations of state-of-the-art methods, and inspiring research directions. With a broad range of topics covered, it is also an invaluable resource for university programs offering computer vision and deep learning courses. This book provides clear and simplified algorithm descriptions, making it easy for beginners to understand the complex concepts. We also include carefully selected problems and examples to help reinforce your learning. Don't miss out on this essential guide to computer vision and deep learning for autonomous driving.

Author: Shengyong Chen
Publisher: Springer
ISBN: 9783540770718
Category : Technology & Engineering
Languages : en
Pages : 265

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Book Description
This unique book explores the important issues in studying for active visual perception. The book’s eleven chapters draw on recent important work in robot vision over ten years, particularly in the use of new concepts. Implementation examples are provided with theoretical methods for testing in a real robot system. With these optimal sensor planning strategies, this book will give the robot vision system the adaptability needed in many practical applications.

Author: J. Cabrera
Publisher:
ISBN: 9789533070773
Category :
Languages : en
Pages :

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Book Description
In this chapter we describe the main problems associated with the integration of active vision and multitasking. This configuration, though attractive, must be properly handled by means of simplification strategies that cope with its inherent complexity. Besides, the programming of this kind of complex system is prone to conclude often in monolithic adhoc solutions. These problems are illustrated through the analysis of MTVS, a prototype system that proposes an open architecture for the integration of concurrent visual tasks. In MTVS the client's requests are articulated on the basis of a reduced set of services or visual primitives. All the low level control/coordination aspects are hidden to the clients simplifying the programming and allowing for an open and dynamic composition of visual activity from much simpler visual capabilities. Regarding the gaze control assignation problem, several schedulers have been implemented. The best results are obtained by a contextual scheme governed by urgencies, taking the interaction of the agent with its environment as organization principle instead of temporal frequencies. Usually, a correspondence between urgency and uncertainty about a relevant task element can be established. The internal structure of MTVS, its organization in terms of visual primitives and its separated scheduling mechanisms contribute to obtain modular software applications that facilitate maintenance and promote software reuse.