Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed

Knowledge of knots: shapes in action

Logic is to natural language what knot theory is to natural knots. Logic is concerned with some cognitive performances; in particular, some natural language inferences are captured by various types of calculi (propositional, predicate, modal, deontic, quantum, probabilistic, etc.), which in turn may generate inferences that are arguably beyond natural logic abilities, or non-well synchronized therewith (eg. ex falso quodlibet, material implication). Mathematical knot theory accounts for some abilities - such as recognizing sameness or differences of some knots, and in turn generates a formalism for distinctions that common sense is blind to. Logic has proven useful in linguistics and in accounting for some aspects of reasoning, but which knotting performaces are there, over and beyond some intuitive discriminating abilities, that may require extensions or restrictions of the normative calculus of knots? Are they amenable to mathematical treatment? And what role is played in the game by mental representations? I shall draw from a corpus of techniques and practices to show to what extent compositionality, lexical and normative elements are present in natural knots, with the prospect of formally exploring an area of human competence that interfaces thought, perception and action in a complex fabric

Computer aided puzzle assembly based on shape and texture information /

Puzzle assembly’s importance lies into application in many areas such as restoration and reconstruction of archeological findings, the repairing of broken objects, solving of the jigsaw type puzzles, molecular docking problem, etc. Puzzle pieces usually include not only geometrical shape information but also visual information of texture, color, continuity of lines, and so on. Moreover, textural information is mainly used to assembly pieces in some cases, such as classic jigsaw puzzles. This research presents a new approach in that pictorial assembly, in contrast to previous curve matching methods, uses texture information as well as geometric shape. The assembly in this study is performed using textural features and geometrical constraints. First, the texture of a band outside the border of pieces is predicted by inpainting and texture synthesis methods. The feature values are derived by these original and predicted images of pieces. A combination of the feature and confidence values is used to generate an affinity measure of corresponding pieces. Two new algorithms using Fourier based image registration techniques are developed to optimize the affinity. The algorithms for inpainting, affinity and Fourier based assembly are explained with experimental results on real and artificial data. The main contributions of this research are: The development of a performance measure that indicates the level of success of assembly of pieces based on textural features and geometrical shape. Solution of the assembly problem by using of the Fourier based methods

3D-POLY: A Robot Vision System for Recognizing Objects in Occluded Environments

The two factors that determine the time complexity associated with model-driven interpretation of range maps are: I) the particular strategy used for the generation of object hypotheses; and 2) the manner in which both the model and the sensed data are organized, data organization being a primary determinant of the efficiency of verification of a given hypothesis. In this report, we present 3D-POLY, a working system for recognizing objects in the presence of occlusion and against cluttered backgrounds. The time complexity of this system is only O(n2) for single object recognition, where n is the number of features on the object. The most novel aspect of this system is the manner in which the feature data are organized for the models. We use a data structure called the feature sphere for the purpose. We will present efficient algorithms for assigning a feature to its proper place on a feature sphere, and for extracting the neighbors of a given feature from the feature sphere representation. For hypothesis generation, we use local feature sets, a notion similar to those used before us by Bolles, Shirai and others. The combination of the feature sphere idea for streamlining verification and the local feature sets for hypothesis generation results in a system whose time complexity has a polynomial bound. In addition to recognizing objects in occluded environments, 3D-POLY also possesses model learning capability. Model learning consists of looking at a model object from different views and integrating the resulting information. The 3D-POLY system also contains utilities for range image segmentation and classification of scene surfaces

Iterated function systems and shape representation

We propose the use of iterated function systems as an isomorphic shape representation scheme for use in a machine vision environment. A concise description of the basic theory and salient characteristics of iterated function systems is presented and from this we develop a formal framework within which to embed a representation scheme. Concentrating on the problem of obtaining automatically generated two-dimensional encodings we describe implementations of two solutions. The first is based on a deterministic algorithm and makes simplifying assumptions which limit its range of applicability. The second employs a novel formulation of a genetic algorithm and is intended to function with general data input. Keywords: Machine Vision, Shape Representation, Iterated Function Systems, Genetic Algorithms

Advances towards behaviour-based indoor robotic exploration

215 p.The main contributions of this research work remain in object recognition by computer vision, by one side, and in robot localisation and mapping by the other. The first contribution area of the research address object recognition in mobile robots. In this area, door handle recognition is of great importance, as it help the robot to identify doors in places where the camera is not able to view the whole door. In this research, a new two step algorithm is presented based on feature extraction that aimed at improving the extracted features to reduce the superfluous keypoints to be compared at the same time that it increased its efficiency by improving accuracy and reducing the computational time. Opposite to segmentation based paradigms, the feature extraction based two-step method can easily be generalized to other types of handles or even more, to other type of objects such as road signals. Experiments have shown very good accuracy when tested in real environments with different kind of door handles. With respect to the second contribution, a new technique to construct a topological map during the exploration phase a robot would perform on an unseen office-like environment is presented. Firstly a preliminary approach proposed to merge the Markovian localisation in a distributed system, which requires low storage and computational resources and is adequate to be applied in dynamic environments. In the same area, a second contribution to terrain inspection level behaviour based navigation concerned to the development of an automatic mapping method for acquiring the procedural topological map. The new approach is based on a typicality test called INCA to perform the so called loop-closing action. The method was integrated in a behaviour-based control architecture and tested in both, simulated and real robot/environment system. The developed system proved to be useful also for localisation purpose

Qualitative Process Analysis : Theoretical Requirements and Practical Implementation in Naval Domain

Understanding complex behaviours is an essential component of everyday life, integrated into daily routines as well as specialised research. To handle the increasing amount of data available from (logistic) dynamic scenarios, analysis of the behaviour of agents in a given environment is becoming more automated and thus requires reliable new analytical methods. This thesis seeks to improve analysis of observed data in dynamic scenarios by developing a new model for transforming sparse behavioural observations into realistic explanations of agent behaviours, with the goal of testing that model in a real-world maritime navigation scenario