面向人体运动视觉跟踪的多线索融合算法

为了跟踪人体的运动轨迹,结合人体运动图像的颜色特征、预测目标位置特征和运动连续性特征,提出一种面向视觉跟踪的多线索融合算法.该算法采用连续自适应均值漂移技术,其中,颜色特征采用色调和饱和度特征、红色信道特征、绿色信道特征以及蓝色信道特征,对于遮挡和位姿的改变实现了较好的鲁棒性;预测目标位置特征利用帧差技术实现;运动连续性特征根据帧间连续性完成.实验结果表明,文中算法比单一线索的算法更加鲁棒,取得了比协作均值漂移跟踪算法更好的跟踪效果,并可以处理目标被部分遮挡、目标环境的颜色饱和度较低等情况.     

基于SOPC的机器人伺服控制器的研究

针对传统工业机器人系统的局限性,提出了一种高实时性的机器人视觉伺服控制系统.系统利用Altera公司的Nios II软核设计一个机器人实时目标跟踪控制器.控制器由Nios II作为处理器,采用基于特征差异的目标识别方法辨识目标并采用线性卡尔曼滤波器算法来快速完成运动估计及进一步分析和校正,实现快速而准确的跟踪.从而改善了多关节机器人跟踪运动目标过程中存在的彩色图像数据量大、处理时间长的问题,提高了实时性.     

面向手势动作捕捉的传感器设计及主从手运动映射

本文针对人手和机器人灵巧手在运动学上尺寸的不一致现象带来的主从手指尖运动空间映射的不一致性进行研究.基于聚氨酯拉伸应变传感器构建了测量手指关节弯曲角度的数据手套.通过建立主从手的运动学模型,基于旋转矩阵理论及正向运动学提出了一种指尖运动轨迹计算方法及手势动作捕捉算法.基于正向运动学及逆向运动学的指尖运动映射算法建立了主从手的指尖运动空间轮廓.建立虚拟实验场景,分别针对关节角度映射算法、手势动作捕捉算法及指尖运动映射算法进行了一系列试验.通过实验得出基于聚氨酯的拉伸应变传感器具有良好的时间响应特性及电学稳定性,基于手势动作捕捉算法能够获取主从手的指尖运动空间轮廓,指尖运动轨迹的计算误差控制在2.8 mm以内.结果证明了基于手势动作捕捉算法以及指尖运动映射算法能够实现主从手指尖运动空间的一致性.     

一种五自由度视觉伺服机器人的跟踪控制研究

提出了一种基于图像的视觉伺服机器人系统的结构，以及该系统跟踪平面运动目标的算法. 该系统有5个自由度，包括一个3自由度的机器人和一个2自由度的手腕，手腕安装在机器人末端，而摄像机安装在手腕末端. 由于具有较小的运动惯量，手腕可快速旋转，以实现对运动目标的跟踪. 而在需要时，3自由度的机器人可将摄像机移动到适当的位置， 对目标进行更为仔细的观察. 该系统实现了对运动目标的跟踪. 此外，还提出了提高系统性能的方法，实验证实这些方法是有效的.     

基于深度图像信息的指尖跟踪与轨迹识别

针对基于传统摄像头获取的二维图像难以准确区分复杂环境下目标和背景的问题,提出一种利用Kinect摄像头对复杂背景下手指指尖的跟踪算法,并对指尖跟踪的轨迹进行识别。首先利用Kinect获取的深度图像信息对手部进行分割和指尖检测;然后利用压缩感知方法对跟踪目标进行特征提取,通过朴素贝叶斯(NB)分类器分类跟踪目标和背景;最后,通过支持向量机(SVM)方法对跟踪的轨迹进行识别。实验结果表明,提出的方法能够成功地跟踪手指指尖的位置,同时能够准确识别出指尖跟踪的轨迹。     

基于立体视觉的串联机器人跟踪检测系统

建立一种六自由度串联机器人视觉跟踪检测系统框架,包括图像采集、摄像机标定、机器臂跟踪检测、机器臂位姿建模与计算等。提出利用CamShift算法对机器人进行在线粗跟踪,搜寻和画定出机器臂操作器在当前窗口的区域位置。对跟踪到的机器臂按照SURF算法进行特征提取与立体匹配。该方法被用于对串联机器人位姿检测进行实验。实验结果表明,2种算法的结合适用于六自由度串联机器人在空间复杂运动的跟踪检测。     

人员图像跟踪过程中多人交叉区域防丢失方法

研究运动目标的图像准确跟踪问题.在随机图像跟踪过程中,画面中出现的图像人物是不定的,图像中目标与随机目标经常同时交叉出现,多目标区域的相似性会造成跟踪帧画面出现多目标特征区域干扰.传统的图像目标跟踪方法以图像关键兴趣区域里的目标特征为基础,一旦图像中出现多目标区,跟踪模型会陷入重复选择,跟踪丢失.提出采用尺度动态变换的运动目标跟踪方法.根据衰减相关理论,提取运动目标关键帧图像,为运动中的交叉多目标跟踪提供依据.利用尺度动态变换方法,对人物交叉画面中运动目标关键帧多目标区进行背景分离处理,实现运动目标的分离跟踪,防止跟踪丢失.实验结果表明,利用改进算法进行运动目标跟踪,能够有效提高运动目标跟踪的准确性,抗击由于画面突变对跟踪结果造成的干扰.     

基于视觉图像的全向移动机器人轨迹跟踪控制研究

机器人轨迹节点跟踪比较难,导致机器人实际轨迹偏离期望轨迹,所以设计基于视觉图像的全向移动机器人轨迹跟踪控制方法;构建全向移动机器人的运动学数学模型,以此确定机器人移动轨迹数学模型;以移动轨迹数学模型为基础,按照视觉图像划分标准对全向移动机器人运动图像的分割,通过分离目标节点的方式提取运动学特征参量,完成机器人轨迹节点跟踪处理;结合节点跟踪处理结果,将运动学不等式与误差向量作为机器人轨迹跟踪控制的约束条件,利用滑模变结构搭建轨迹跟踪控制模型,实现全向移动机器人轨迹跟踪控制;对比实验结果表明,所设计的方法应用后,全向移动机器人角速度曲线、线速度曲线与期望运动轨迹曲线之间的贴合程度均超过90%,满足全向移动机器人轨迹跟踪控制要求。     

基于无极卡尔曼滤波算法的雅可比矩阵估计

在基于图像的机器人视觉伺服中,采用在线估计图像雅可比的方法,不需事先知道系统的精确模型,可以避免复杂的系统标定过程。为了有效改善图像雅可比矩阵的在线估计精度,进而提高机器人的跟踪精度,针对机器人跟踪运动目标的应用背景,提出了利用无极卡尔曼滤波算法在线估计总雅可比矩阵。在二自由度的机器人视觉伺服仿真平台上,分别用卡尔曼滤波器（KF）、粒子滤波器（PF）和无极卡尔曼滤波器（UKF）三种算法进行总雅可比矩阵的在线估计。实验结果证明,使用UKF算法的跟踪精度优于其他两种算法,时间耗费仅次于KF算法。     

基于Adept机器人的视觉伺服控制系统

机器人视觉伺服控制在理论和应用等方面还有许多问题需要研究,例如特征选择、系统标定和伺服控制算法等.针对Adept机器人,提出了一种简单快速的不需要精确标定摄像机内外部参数的摄像机标定方法,完成了从被观测物体表面所在的视觉平面坐标系到机器人基坐标系的坐标变换.使用图像的全局特征,即图像矩特征进行伺服跟踪;利用所推导的图像雅可比矩阵,设计了由图像反馈与目标运动自适应补偿组成的视觉伺服控制器.将算法对静态目标的定位实验进行了验证,然后又将其应用到移动目标的跟踪上,通过调节和优选控制参数,实现了稳定的伺服跟踪和抓取.实验结果表明采用图像矩作为图像特征能够避免复杂的特征匹配过程,并且能够获得较好的跟踪精度.     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

基于QTE的蒙古文显示机制研究与实现

蒙古语言是中国蒙古族使用的通用语言,由于蒙古文区别于其他文字的书写方式和其自身变形机制等特点,在很多通用的文字处理引擎中都不被支持。在嵌入式产品开发与应用领域中Linux加QTE已经成为流行方式。该文给出了一种在QTE环境上实现基于标准Unicode的蒙古文点阵显示和变形算法, 并自定义了支持蒙古文的QTE组件,扩展了QTE功能,为在Linux加QTE方式的嵌入式体系结构中处理蒙古文提供了一种解决方法。