基于区域生长的道路图像分割技术研究

对一幅给定的道路图像，首先计算其梯度图像，然后利用HOUGH变换确定粗略道路区，根据灰度直方图全局峰值个数选取区域核心点，采用近邻函数准则聚类算法选取区域生长阈值，结合单一型链接区域生长和质心型链接区域生长作为生长准则进行区域生长，得出道路区的区域描述。     

基于二维灰度图象的道路区域获取方法

针对二维灰度图象给出了一种获取道路区域的方法。首先基于边缘特性利用灰度直方图把初始生长点限定在道路区以内,然后确定区域生长阈值,以待生长点与已生长邻点的灰度接近性和已生成区域的均值接近性作为生长准则,形成准确的道路区域。     

LOGUE: an architecture for task and behavior object transmission among multiple autonomous robots

This paper proposes a new communication and control architecture which improves the capability and the flexibility of multiple autonomous robot systems in performing a complicated task and coping with unpredictable situations. This system treats robot’s information as a Behavior Element Object (BEO) and a Task Object (TO) in terms of Object Oriented paradigm. Both BEO and TO can be serialized, so they can be communicated among the robots and behavior server system in the network. The action manager module, device module, and some checking mechanisms are also designed for executing new TO or BEO sent from other robots or a server system. A simulation and basic experiments are presented for a situation of robots’ relief for an emergency purpose.     

一种眼底图象的三维重建方法

将图象处理技术与真实感图形绘制技术相结合，提出了一种眼底图象的三维重建方法。着重阐述了二维图象的三维信息恢复，再利用三维信息及真实感绘制技术来实现三维眼底图象。     

The uses of fuzzy logic in autonomous robot navigation

 The development of techniques for autonomous navigation in real-world environments constitutes one of the major trends in the current research on robotics. An important problem in autonomous navigation is the need to cope with the large amount of uncertainty that is inherent of natural environments. Fuzzy logic has features that make it an adequate tool to address this problem. In this paper, we review some of the possible uses of fuzzy logic in the field of autonomous navigation. We focus on four issues: how to design robust behavior-producing modules; how to coordinate the activity of several such modules; how to use data from the sensors; and how to integrate high-level reasoning and low-level execution. For each issue, we review some of the proposals in the literature, and discuss the pros and cons of fuzzy logic solutions. Received: 31 March 1997 / Accepted: 24 September 1997     

Mobile robot localization using a self-organized visual environment representation

Owing to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. In both areas flexible adaptivity is difficult to achieve especially when high bandwidth sensors (e.g. video cameras) - which are needed in the envisioned unstructured worlds - are used. This paper proposes a new methodology for image-based navigation using a self-organized visual representation of the environment. Self-organization leads to internal representations, which can be used by the robot, but are not transparent to the user. It is shown how this conceptual gap can be bridged.     

基于小波域的图像噪声估计新方法

提出一种基于小波域区域分割的估计图像噪声的新疗法。该方法利用图像的小波高频系数，在提出图像平滑区域的基础上，准确地估计图像高斯噪声的标准方差、由于考虑了图像的局部信息，因此该方法优于传统的估计方法。用于多幅实验图像的结果表明：在图像受噪声比较小或图像含高频信息较丰富时，该方法比传统疗法更准确。     

条形码区域的一种快速检测方法

提出了一种快速检测CCD图像中条形码区域的方法。首先等间隔抽取扫描行逐点平滑和梯度化,其次用动态全局阈值对目标行二值化,进一步搜索特征点并做筛选和分类,最后用最小二乘法拟合边缘,获得目标区域的特征参数提取目标区域同时进行倾斜校正。等间隔抽取扫描行的处理办法成倍的减小了处理的数据量。对取自30种商品不同倾角的84幅图像提取结果表明当倾角在±35o以内时正确率为100%。     

Navigation of an AUV for investigation of underwater structures

There is a great demand for autonomous underwater vehicles (AUVs) to investigate artificial underwater structures such as piles and caissons in harbours, and risers and jackets of deep-sea oilfields. This paper proposes an autonomous investigation method of underwater structures using AUVs that is implemented by initially detecting the target objects, localizing them, then approaching them by taking video images while closely tracing their shape. A laser ranging system and a navigation method based on the relative position with respect to the target objects are introduced to realize this behaviour.     

GCr15轴承钢淬火马氏体的分析

针对GCr15轴承钢正常淬火组织中的黑白区及过热淬火组织中明暗相间的带状组织进行了论述。认为，黑白区与带状组织的出现是由于存在不同含铬量的合金渗碳体的偏聚和过热淬火造成的，可以通过生产工艺的优化进行控制。