Download or read book A High performance Vision System for Obstacle Detection written by Todd A. Williamson and published by . This book was released on 1997 with total page 26 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "I have developed a method for obstacle detection in a highway environment using the CMU Video Rate Multi-Baseline Stereo Machine. One key feature of this method is the computation and output of a confidence measure at each pixel, so that regions of the scene with low reliability can be recognized and filtered out. This method has proven to be capable of detecting 30cm high obstacles at distances of close to 100m. Unfortunately, the system requires significant of post-processing of the output data from the CMU stereo machine, and therefore cannot be run in real-time. Additionally, the design of the CMU stereo machine imposes several limitations on the system, both computationally (limited resolution, speed, and programmability) and practically (large size, cost, power consumption). I propose to construct a system, consisting of both hardware and software, to perform this obstacle detection task in real-time. In the process, I will develop a general-purpose stereo vision machine that improves upon the state-of-the-art. Furthermore, I will show that the system can perform obstacle detection in real-world environments and thus improve vehicle safety."

Download or read book A High performance Stereo Vision System for Obstacle Detection written by Todd A. Williamson and published by . This book was released on 1998 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "Intelligent vehicle research to date has made great progress toward true autonomy. Integrated systems for on-road vehicles, which include road following, headway maintenance, tactical-level planning, avoidance of large obstacles, and inter-vehicle coordination have been demonstrated. One of the weakest points of current automated cars, however, is the lack of a reliable system to detect small obstacles on the road surface. In order to be useful at highway speeds, such a system must be able to detect small (1̃5cm) obstacles at long ranges (1̃00m), with a cycle rate of at least 2 Hz. This dissertation presents an obstacle detection system that uses trinocular stereo to detect very small obstacles at long range on highways. The system makes use of the apparent orientation of surfaces in the image in order to determine whether pixels belong to vertical or horizontal surfaces. A simple confidence measure is applied to reject false positives introduced by image noise. The system is capable of detecting objects as small as 14cm high at ranges well in excess of 100m. The obstacle detection system described here relies on several factors. First, the camera system is configured in such a way that even small obstacles generate detectable range measurements. This is done by using a very long baseline, telephoto lenses, and rigid camera mounts. Second, extremely accurate calibration procedures allow accurate determination of these range differences. Multibaseline stereo is used to reduce the number of false matches and to improve range accuracy. Special image filtering techniques are used to enhance the very weak image textures present on the road surface, reducing the number of false range measurements. Finally, a technique for determining the surface orientation directly from stereo data is used to detect the presence of obstacles. A system to detect obstacles is not useful if it does not run in near real-time. In order to improve performance, this dissertation includes a detailed analysis of each stage of the stereo algorithm. An efficient method for rectifying images for trinocular stereo is presented. An analysis of memory usage and cache performance of the stereo matching loop has been performed to allow efficient implementation on systems using general-purpose CPUs. Finally, a method for efficiently determining surface orientation directly from stereo data is described."

Download or read book A Real time Obstacle Detection Vision System for Autonomous High Speed Robots written by Scott A. Wilson and published by . This book was released on 2006 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper describes a real-time obstacle detection system for automobile-class robots using 3D point clouds generated from a commercial stereo camera pair. This approach is geared towards autonomous vehicle navigation for unstructured prescribed outdoor environments (e.g., off-road) as defined by the DARPA Grand Challenge, but will also work on structured environments (i.e., roads). The obstacle detection algorithms use various slope and elevation calculations to determine the presence of a non-passable area. Unlike many previous systems that assume that the path is a flat surface, this system also performs well on non-flat surfaces, which is a requirement for off-road conditions. Calculations are done in relative space using a grid system to map out traversable and nontraversable grid coordinates. Algorithms are developed to filter out erroneous points and extract features from the 3D point cloud for object classification for areas of limited texture. The overall system has been tested at speeds up to 30mph (14m/s) on the University of Louisiana's CajunBot II (Jeep Wrangler) robot.

Download or read book Scanning Technologies for Autonomous Systems written by Julio C. Rodríguez-Quiñonez and published by Springer Nature. This book was released on with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Stereo Vision written by Asim Bhatti and published by BoD – Books on Demand. This book was released on 2008-11-01 with total page 383 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book comprehensively covers almost all aspects of stereo vision. In addition reader can find topics from defining knowledge gaps to the state of the art algorithms as well as current application trends of stereo vision to the development of intelligent hardware modules and smart cameras. It would not be an exaggeration if this book is considered to be one of the most comprehensive books published in reference to the current research in the field of stereo vision. Research topics covered in this book makes it equally essential and important for students and early career researchers as well as senior academics linked with computer vision.

Download or read book Recent Advances in Mobile Robotics written by Andon Topalov and published by BoD – Books on Demand. This book was released on 2011-12-14 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots are the focus of a great deal of current research in robotics. Mobile robotics is a young, multidisciplinary field involving knowledge from many areas, including electrical, electronic and mechanical engineering, computer, cognitive and social sciences. Being engaged in the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. Thanks to the numerous researchers sharing their goals, visions and results within the community, mobile robotics is becoming a very rich and stimulating area. The book Recent Advances in Mobile Robotics addresses the topic by integrating contributions from many researchers around the globe. It emphasizes the computational methods of programming mobile robots, rather than the methods of constructing the hardware. Its content reflects different complementary aspects of theory and practice, which have recently taken place. We believe that it will serve as a valuable handbook to those who work in research and development of mobile robots.

Download or read book Technology Development for Army Unmanned Ground Vehicles written by National Research Council and published by National Academies Press. This book was released on 2003-02-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Download or read book Computer Vision Systems written by Dimitrios Tzovaras and published by Springer Nature. This book was released on 2019-11-22 with total page 799 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 12th International Conference on Computer Vision Systems, ICVS 2019, held in Thessaloniki, Greece, in September 2019. The 72 papers presented were carefully reviewed and selected from 114 submissions. The papers are organized in the following topical sections; hardware accelerated and real time vision systems; robotic vision; vision systems applications; high-level and learning vision systems; cognitive vision systems; movement analytics and gesture recognition for human-machine collaboration in industry; cognitive and computer vision assisted systems for energy awareness and behavior analysis; and vision-enabled UAV and counter UAV technologies for surveillance and security of critical infrastructures.

Download or read book National High Performance Computer Technology Act of 1989 written by United States. Congress. Senate. Committee on Commerce, Science, and Transportation. Subcommittee on Science, Technology, and Space and published by . This book was released on 1989 with total page 438 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Co design Hardware software of Real Time Vision System on FPGA for Obstacle Detection written by Ali Alhamwi and published by . This book was released on 2016 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle detection, localization and occupancy map reconstruction are essential abilities for a mobile robot to navigate in an environment. Solutions based on passive monocular vision such as simultaneous localization and mapping (SLAM) or optical flow (OF) require intensive computation. Systems based on these methods often rely on over-sized computation resources to meet real-time constraints. Inverse perspective mapping allows for obstacles detection at a low computational cost under the hypothesis of a flat ground observed during motion. It is thus possible to build an occupancy grid map by integrating obstacle detection over the course of the sensor. In this work we propose hardware/software system for obstacle detection, localization and 2D occupancy map reconstruction in real-time. The proposed system uses a FPGA-based design for vision and proprioceptive sensors for localization. Fusing this information allows for the construction of a simple environment model of the sensor surrounding. The resulting architecture is a low-cost, low-latency, high-throughput and low-power system.

Download or read book Vision and Navigation written by Charles E. Thorpe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 375 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms in the ocean. A whole host of further applications, however, beckons robots capable of autonomous operation without or with very little intervention of human operators. Such robots of the future will explore distant planets, map the ocean floor, study the flow of pollutants and carbon dioxide through our atmosphere and oceans, work in underground mines, and perform other jobs we cannot even imagine; perhaps even drive our cars and walk our dogs. The biggest technical obstacles to building mobile robots are vision and navigation-enabling a robot to see the world around it, to plan and follow a safe path through its environment, and to execute its tasks. At the Carnegie Mellon Robotics Institute, we are studying those problems both in isolation and by building complete systems. Since 1980, we have developed a series of small indoor mobile robots, some experimental, and others for practical applicationr Our outdoor autonomous mobile robot research started in 1984, navigating through the campus sidewalk network using a small outdoor vehicle called the Terregator. In 1985, with the advent of DARPA's Autonomous Land Vehicle Project, we constructed a computer controlled van with onboard sensors and researchers. In the fall of 1987, we began the development of a six-legged Planetary Rover.

Download or read book NASA High Performance Computing and Communications Program written by United States. Office of Aeronautics. High Performance Computing and Communications Office and published by . This book was released on 1994 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Obstacle Detection in Aerodrome Areas Through the Use of Computer Vision written by Jason Gauci and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the problem of ground collisions between an aircraft and obstacles (including other aircraft) on the ramp and taxiway regions of an aireld. A safety study is conducted by looking at current operating procedures and analysing accident statistics and reports. An onboard non-collaborative system for large transport aircraft is proposed and its main requirements and performance characteristics are discussed. The main requirement is to detect and track generic obstacles around an aircraft during taxi manoeuvres. The suitability of computer vision to the application of interest of this work is investigated through comparison with other candidate sensor technologies and computer vision, using visible cameras, is selected as the preferred technology. A study of dierent optical solutions is carried out and stereo vision is considered to be the most suitable choice. Two locations on the aircraft are considered for camera installation and the installation of a stereo vision system on each wingtip is chosen. Algorithms are implemented for the dierent processing blocks of the stereo vision system. These comprise calibration, rectication, correspondence, reconstruction, detection, clustering, and tracking algorithms. For each process, existing methods and techniques are reviewed and the most appropriate ones are selected, modied and improved in order to meet the specic requirements of this application. The values of several parameters of each algorithm are found experimentally using synthetic data and each algorithm is tested individually before being integrated with the rest of the system. Overall system performance is evaluated by testing for positional accuracy, generic obstacle detection and tracking capabilities, and sensitivity to calibration errors. Testing is conducted for a range of realistic conict scenarios, under dierent illumination, visibility, and image noise conditions. Both synthetic images and real images are used. The results of both sets of images are compared and these suggest that the stereo vision system developed in this research has the potential to reduce wingtip collisions and can therefore improve safety and situational awareness in aerodrome areas.

Download or read book Obstacle Detection in Aerodrome Areas Through the Use of Computer Vision written by Jason Gauci and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the problem of ground collisions between an aircraft and obstacles (including other aircraft) on the ramp and taxiway regions of an aireld. A safety study is conducted by looking at current operating procedures and analysing accident statistics and reports. An onboard non-collaborative system for large transport aircraft is proposed and its main requirements and performance characteristics are discussed. The main requirement is to detect and track generic obstacles around an aircraft during taxi manoeuvres. The suitability of computer vision to the application of interest of this work is investigated through comparison with other candidate sensor technologies and computer vision, using visible cameras, is selected as the preferred technology. A study of dierent optical solutions is carried out and stereo vision is considered to be the most suitable choice. Two locations on the aircraft are considered for camera installation and the installation of a stereo vision system on each wingtip is chosen. Algorithms are implemented for the dierent processing blocks of the stereo vision system. These comprise calibration, rectication, correspondence, reconstruction, detection, clustering, and tracking algorithms. For each process, existing methods and techniques are reviewed and the most appropriate ones are selected, modied and improved in order to meet the specic requirements of this application. The values of several parameters of each algorithm are found experimentally using synthetic data and each algorithm is tested individually before being integrated with the rest of the system. Overall system performance is evaluated by testing for positional accuracy, generic obstacle detection and tracking capabilities, and sensitivity to calibration errors. Testing is conducted for a range of realistic conict scenarios, under dierent illumination, visibility, and image noise conditions. Both synthetic images and real images are used. The results of both sets of images are compared and these suggest that the stereo vision system developed in this research has the potential to reduce wingtip collisions and can therefore improve safety and situational awareness in aerodrome areas.

Download or read book Advances in Intelligent Networking and Collaborative Systems written by Leonard Barolli and published by Springer Nature. This book was released on 2022-08-16 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the fast development of the Internet, we are experiencing a shift from the traditional sharing of information and applications as the main purpose of the Web to an emergent paradigm, which locates people at the very center of networks and exploits the value of people's connections, relations, and collaboration. Social networks are also playing a major role in the dynamics and structure of intelligent Web-based networking and collaborative systems. Virtual campuses, virtual communities, and organizations strongly leverage intelligent networking and collaborative systems by a great variety of formal and informal electronic relations, such as business-to-business, peer-to-peer, and many types of online collaborative learning interactions, including the emerging e-learning systems. This has resulted in entangled systems that need to be managed efficiently and in an autonomous way. In addition, latest and powerful technologies based on grid and wireless infrastructure as well as cloud computing are currently enhancing collaborative and networking applications a great deal but also facing new issues and challenges. The principal purpose of the research and development community is to stimulate research that will lead to the creation of responsive environments for networking and, at longer-term, the development of adaptive, secure, mobile, and intuitive intelligent systems for collaborative work and learning. The aim of the book “Advances on Intelligent Networking and Collaborative Systems” is to provide latest research findings, innovative research results, methods, and development techniques from both theoretical and practical perspectives related to intelligent social networks and collaborative systems, intelligent networking systems, mobile collaborative systems, secure intelligent cloud systems, and so on as well as to reveal synergies among various paradigms in such a multi-disciplinary field intelligent collaborative systems.

Download or read book Field Programmable Gate Array FPGA Technologies for High Performance Instrumentation written by Gazzano, Julio Daniel Dondo and published by IGI Global. This book was released on 2016-07-05 with total page 331 pages. Available in PDF, EPUB and Kindle. Book excerpt: Field-Programmable Gate Array (FPGA) technologies have increased in popularity in recent years due to their adaptability and high computing potential. Further research in this area illustrates the potential for further advancements and applications of this useful technology. Field-Programmable Gate Array (FPGA) Technologies for High Performance Instrumentation presents experimental and theoretical research on FPGA-based design and the development of virtual scientific instrumentation that can be used by a broad segment of scientists across a variety of research fields. Focusing on crucial innovations and algorithms for signal processing, data acquisition mechanisms, FPGA-based hardware design, and parallel computing, this publication is a critical resource for researchers, development engineers, and graduate-level students.

Download or read book Computational Intelligence in Data Science written by Mieczyslaw Lech Owoc and published by Springer Nature. This book was released on with total page 482 pages. Available in PDF, EPUB and Kindle. Book excerpt: