"The field of robotic vision has advanced dramatically recently with the development of new range sensors. Tremendous progress has been made resulting in significant impact on areas such as robotic navigation, scene/environment understanding, and visual learning. This edited book provides a solid and diversified reference source for some of the most recent important advancements in the field of robotic vision. The book starts with articles that describe new techniques to understand scenes from 2D/3D data such as estimation of planar structures, recognition of multiple objects in the scene using different kinds of features as well as their spatial and semantic relationships, generation of 3D object models, approach to recognize partially occluded objects, etc. Novel techniques are introduced to improve 3D perception accuracy with other sensors such as a gyroscope, positioning accuracy with a visual servoing based alignment strategy for microassembly, and increasing object recognition reliability using related manipulation motion models. For autonomous robot navigation, different vision-based localization and tracking strategies and algorithms are discussed. New approaches using probabilistic analysis for robot navigation, online learning of vision-based robot control, and 3D motion estimation via intensity differences from a monocular camera are described. This collection will be beneficial to graduate students, researchers, and professionals working in the area of robotic vision."--back cover

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COSMOS 23 - New Development in Robot Vision

Yun Su; Aman Behal; Chi-Kit Ronald Chung

Springer Berlin Heidelberg : Imprint : Springer

Springer Spektrum. in Springer-Verlag GmbH

Steinkopff. in Springer-Verlag GmbH

Springer London, Limited

Sun Yu; Springer

Springer Nature

Cognitive Systems Monographs, Online-ausg, Berlin, Heidelberg, 2014

Cognitive systems monographs, Berlin, Heidelberg, 2015

Springer Nature, Heidelberg, 2014

Germany, Germany

Sep 28, 2014

2, 20140926

2015, 2014

sm29130436

producers:
Acrobat Distiller 10.1.8 (Windows)

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Source title: New Development in Robot Vision (Cognitive Systems Monographs)

New Development in Robot Vision
Preface 7
Contents 9
List of Contributors 14
Multi-modal Manhattan World Structure Estimation for Domestic Robots 17
1.1 Introduction 18
1.2 RelatedWork 21
1.3 Relationship between Pairwise Data 23
1.4 Modeling and Selection of Inliers 26
1.5 Experiments 27
1.6 Conclusion 31
References 32
RMSD: A 3D Real-Time Mid-level Scene Description System 34
2.1 Introduction 34
2.2 RelatedWork 38
2.3 Method Overview 39
2.4 3D Object Extraction 41
2.5 Experiments 43
2.6 Conclusion and Future Work 45
References 45
Semantic and Spatial Content Fusion for Scene Recognition 47
3.1 Introduction 47
3.2 RelatedWork 49
3.3 Overview of the Proposed Framework 50
3.4 Feature Extraction and Representation 51
3.5 Spatial Semantic Feature Fusion (SSFF) 53
3.6 Experimental Results 59
3.7 Conclusion 66
References 66
Improving RGB-D Scene Reconstruction Using Rolling Shutter Rectification 68
4.1 Introduction 68
4.2 Sensor Calibration 71
4.3 Depth Map Rectification 76
4.4 Experiments 78
4.5 Concluding Remarks 83
References 83
Modeling Paired Objects and Their Interaction 85
5.1 Introduction 85
5.2 Human-Object-Object-Interaction Modeling 88
5.3 Experiments and Results 95
5.4 Conclusions 97
References 97
Probabilistic Active Recognition of Multiple Objects Using Hough-Based Geometric Matching Features 100
6.1 Introduction 100
6.2 RelatedWork 102
6.3 Active Recognition of a Single Object 104
6.4 Active Recognition of Multiple Objects 108
6.5 Relationship to Mutual Information 112
6.6 Experimentation 113
6.7 Discussion 119
References 119
Incremental Light Bundle Adjustment: Probabilistic Analysis and Application to Robotic Navigation 121
7.1 Introduction 121
7.2 RelatedWork 124
7.3 Incremental Light Bundle Adjustment 126
7.4 Probabilistic Analysis of Light Bundle Adjustment 130
7.5 Application iLBA to Robotic Navigation 137
7.6 Conclusions and Future Work 144
References 145
Online Learning of Vision-Based Robot Control during Autonomous Operation 147
8.1 Introduction 147
8.2 Previous Work 149
8.3 Proposed Method 152
8.4 Evaluation 155
8.5 Conclusions 163
References 164
3D Space Automated Aligning Task Performed by a Microassembly System Based on Multi-channel Microscope Vision Systems 167
9.1 Introduction 167
9.2 System Structure 168
9.3 Features Selection and Relative Pose Calculation 170
9.4 Coarse-to-Fine Alignment Strategy with Active Zooming Algorithm 171
9.5 Vision Servo Control Based on Jacobian 176
9.6 Experiments and Results 181
9.7 Conclusion 189
References 189
Intensity-Difference Based Monocular Visual Odometry for Planetary Rovers 191
10.1 Introduction 191
10.2 Monocular Visual Odometry Algorithm 194
10.3 Experimental Results 201
10.4 Summary and Conclusions 205
10.5 Future Work 205
References 207
Author Index 209

Front Matter....Pages 1-15
Multi-modal Manhattan World Structure Estimation for Domestic Robots....Pages 1-17
RMSD: A 3D Real-Time Mid-level Scene Description System....Pages 19-31
Semantic and Spatial Content Fusion for Scene Recognition....Pages 33-53
Improving RGB-D Scene Reconstruction Using Rolling Shutter Rectification....Pages 55-71
Modeling Paired Objects and Their Interaction....Pages 73-87
Probabilistic Active Recognition of Multiple Objects Using Hough-Based Geometric Matching Features....Pages 89-109
Incremental Light Bundle Adjustment: Probabilistic Analysis and Application to Robotic Navigation....Pages 111-136
Online Learning of Vision-Based Robot Control during Autonomous Operation....Pages 137-156
3D Space Automated Aligning Task Performed by a Microassembly System Based on Multi-channel Microscope Vision Systems....Pages 157-180
Intensity-Difference Based Monocular Visual Odometry for Planetary Rovers....Pages 181-198
Back Matter....Pages 199-199

2014-11-10