Visual Perception For Manipulation And Imitation In Humanoid Robots
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Visual Perception For Manipulation And Imitation In Humanoid Robots
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Author : Pedram Azad
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-11-19
Visual Perception For Manipulation And Imitation In Humanoid Robots written by Pedram Azad and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-11-19 with Technology & Engineering categories.
Dealing with visual perception in robots and its applications to manipulation and imitation, this monograph focuses on stereo-based methods and systems for object recognition and 6 DoF pose estimation as well as for marker-less human motion capture.
Visual Perception For Humanoid Robots
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Author : David Israel González Aguirre
language : en
Publisher: Springer
Release Date : 2018-09-01
Visual Perception For Humanoid Robots written by David Israel González Aguirre and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-01 with Computers categories.
This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.
Symbiotic Multi Robot Organisms
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Author : Paul Levi
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-05-18
Symbiotic Multi Robot Organisms written by Paul Levi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-05-18 with Technology & Engineering categories.
This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring.
Visual Perception And Robotic Manipulation
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Author : Geoffrey Taylor
language : en
Publisher: Springer
Release Date : 2008-08-18
Visual Perception And Robotic Manipulation written by Geoffrey Taylor and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-08-18 with Technology & Engineering categories.
This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.
Space Time Continuous Models Of Swarm Robotic Systems
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Author : Heiko Hamann
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-05-18
Space Time Continuous Models Of Swarm Robotic Systems written by Heiko Hamann and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-05-18 with Technology & Engineering categories.
In this book, a generic model in as far as possible mathematical closed-formis developed that predicts the behavior of large self-organizing robot groups (robot swarms) based on their control algorithm. In addition, an extensive subsumption of the relatively young and distinctive interdisciplinary research field of swarm robotics is emphasized. The connection to many related fields is highlighted and the concepts and methods borrowed from these fields are described shortly.
Cognitive Systems
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Author : Henrik Christensen
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-04-05
Cognitive Systems written by Henrik Christensen and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-05 with Computers categories.
Design of cognitive systems for assistance to people poses a major challenge to the fields of robotics and artificial intelligence. The Cognitive Systems for Cognitive Assistance (CoSy) project was organized to address the issues of i) theoretical progress on design of cognitive systems ii) methods for implementation of systems and iii) empirical studies to further understand the use and interaction with such systems. To study, design and deploy cognitive systems there is a need to considers aspects of systems design, embodiment, perception, planning and error recovery, spatial insertion, knowledge acquisition and machine learning, dialog design and human robot interaction and systems integration. The CoSy project addressed all of these aspects over a period of four years and across two different domains of application – exploration of space and task / knowledge acquisition for manipulation. The present volume documents the results of the CoSy project. The CoSy project was funded by the European Commission as part of the Cognitive Systems Program within the 6th Framework Program.
Animation And Performance Capture Using Digitized Models
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Author : Edilson de Aguiar
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-12-08
Animation And Performance Capture Using Digitized Models written by Edilson de Aguiar and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-12-08 with Computers categories.
The realistic generation of virtual doubles of real-world actors has been the focus of computer graphics research for many years. However, some problems still remain unsolved: it is still time-consuming to generate character animations using the traditional skeleton-based pipeline, passive performance capture of human actors wearing arbitrary everyday apparel is still challenging, and until now, there is only a limited amount of techniques for processing and modifying mesh animations, in contrast to the huge amount of skeleton-based techniques. In this thesis, we propose algorithmic solutions to each of these problems. First, two efficient mesh-based alternatives to simplify the overall character animation process are proposed. Although abandoning the concept of a kinematic skeleton, both techniques can be directly integrated in the traditional pipeline, generating animations with realistic body deformations. Thereafter, three passive performance capture methods are presented which employ a deformable model as underlying scene representation. The techniques are able to jointly reconstruct spatio-temporally coherent time-varying geometry, motion, and textural surface appearance of subjects wearing loose and everyday apparel. Moreover, the acquired high-quality reconstructions enable us to render realistic 3D Videos. At the end, two novel algorithms for processing mesh animations are described. The first one enables the fully-automatic conversion of a mesh animation into a skeletonbased animation and the second one automatically converts a mesh animation into an animation collage, a new artistic style for rendering animations. The methods described in the thesis can be regarded as solutions to specific problems or important building blocks for a larger application. As a whole, they form a powerful system to accurately capture, manipulate and realistically render realworld human performances, exceeding the capabilities of many related capture techniques. By this means, we are able to correctly capture the motion, the timevarying details and the texture information of a real human performing, and transform it into a fully-rigged character animation, that can be directly used by an animator, or use it to realistically display the actor from arbitrary viewpoints.
Computer Vision
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Author : Pedram Azad
language : en
Publisher:
Release Date : 2008
Computer Vision written by Pedram Azad and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Computers categories.
Computer vision is probably the most exciting branch of image processing, and the number of applications in robotics, automation technology and quality control is constantly increasing. Unfortunately entering this research area is, as yet, not simple. Those who are interested must first go through a lot of books, publications and software libraries. With this book, however, the first step is easy. The theoretically founded content is understandable and is supplemented by many practical examples. Source code is provided with the specially developed platform-independent open source library IVT in the programming language C/C++. The use of the IVT is not necessary, but it does make for a much easier entry and allows first developments to be quickly produced.
Unifying Perspectives In Computational And Robot Vision
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Author : Danica Kragic
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-06-06
Unifying Perspectives In Computational And Robot Vision written by Danica Kragic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-06-06 with Computers categories.
Assembled in this volume is a collection of some of the state-of-the-art methods that are using computer vision and machine learning techniques as applied in robotic applications. Currently there is a gap between research conducted in the computer vision and robotics communities. This volume discusses contrasting viewpoints of computer vision vs. robotics, and provides current and future challenges discussed from a research perspective.
Humanoid Robotics And Neuroscience
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Author : Gordon Cheng
language : en
Publisher: CRC Press
Release Date : 2014-12-19
Humanoid Robotics And Neuroscience written by Gordon Cheng and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-12-19 with Medical categories.
Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering-one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscienc