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Articles 1 - 4 of 4
Full-Text Articles in Computer Engineering
Interactive Perception For Cluttered Environments, Robert Willimon
Interactive Perception For Cluttered Environments, Robert Willimon
All Theses
Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of extracting and classifying unknown objects within a cluttered environment, such as found in recycling and service robot applications. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to sift through the pile and classify each object so that it can be studied further. One object should be removed at a time with minimal disturbance to the other objects. We propose …
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Theses and Dissertations
When a camera is affixed on a dynamic mobile robot, image stabilization is the first step towards more complex analysis on the video feed. This thesis presents a novel electronic image stabilization (EIS) algorithm for small inexpensive highly dynamic mobile robotic platforms with onboard camera systems. The algorithm combines optical flow motion parameter estimation with angular rate data provided by a strapdown inertial measurement unit (IMU). A discrete Kalman filter in feedforward configuration is used for optimal fusion of the two data sources. Performance evaluations are conducted by a simulated video truth model (capturing the effects of image translation, rotation, …
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Locating And Tracking Objects By Efficient Comparison Of Real And Predicted Synthetic Video Imagery, Damian M. Lyons, D. Paul Benjamin
Faculty Publications
A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In this paper we present an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduce an approach to compare real and simulated imagery and present results using this approach to locate and track objects with complex behaviors. In this …
A Subspace Projection Methodology For Nonlinear Manifold Based Face Recognition, Praveen Sankaran
A Subspace Projection Methodology For Nonlinear Manifold Based Face Recognition, Praveen Sankaran
Electrical & Computer Engineering Theses & Dissertations
A novel feature extraction method that utilizes nonlinear mapping from the original data space to the feature space is presented in this dissertation. Feature extraction methods aim to find compact representations of data that are easy to classify. Measurements with similar values are grouped to same category, while those with differing values are deemed to be of separate categories. For most practical systems, the meaningful features of a pattern class lie in a low dimensional nonlinear constraint region (manifold) within the high dimensional data space. A learning algorithm to model this nonlinear region and to project patterns to this feature …