Robot vision : International Workshop RobVis 2001, Auckland, New Zealand, February 16-18, 2001 : proceedings
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Robot vision : International Workshop RobVis 2001, Auckland, New Zealand, February 16-18, 2001 : proceedings
（Lecture notes in computer science, 1998）
Springer, c2001
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Includes bibliographical references and index
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On behalf of the organizerswe would like to welcome all participants to the "Robot Vision 2001" workshop. Our objective has been to bring together - searchersinrobotvision,andtopromoteinteractionanddebate. Participants oftheworkshopcomefromEurope,US,theMiddleEast,theFarEast,andof coursefromNewZealand. Fifty-twopapersweresubmittedtotheworkshop,andeachpaperwasth- oughlyreviewedbyatleastthreereviewers. Seventeenpaperswereselectedfor oral presentation, and seventeen papers were selected for poster presentation. There were no invited technical papers, to give all participants the sense of equalopportunity. Thetechnicalscopeoftheworkshopisverywide,andincludespresentations onmotionanalysis,3Dmeasurements,calibration,navigation,objectrecog- tion,andmore. Thescheduleoftheworkshopwasthereforepreparedtoallow, inadditiontothetechnicalpresentation,ampletimefordiscussionsandint- action. Wehopethatinteractionamongresearchersofsuchdi?erentareas,yet allpartofrobotvision,willresultinbetterunderstandingandresearchofthe robotvisionarea.
February2001 ReinhardKlette,ShmuelPeleg,andGeraldSommer Organization RobVis2001wasorganizedbytheCenterforImageTechnologyandRobotics (CITR),Tamakicampus,TheUniversityofAuckland. Co-chairs ReinhardKlette(Auckland,NewZealand) ShmuelPeleg(Jerusalem,Israel) GeraldSommer(Kiel,Germany) Program Committee JackyBaltes(Auckland, NZ), ThomasBr..aunl (Nedlands, AUS), Ross Clarke (Hamilton,NZ),GeorgyGimel'farb(Auckland,NZ),AtsusuhiImiya(Chiba,J), Reinhard Klette (Auckland, NZ), Claus-E. Liedtke (Hanover,D), Bruce Mac- Donald (Auckland, NZ), Takashi Matsuyama (Kyoto, Japan), Allan McIvor (Auckland,NZ),JosefPauli(Kiel,D),ShmuelPeleg(Jerusalem,IL),Moshe- rat(Haifa,IL),GeraldSommer(Kiel,D),BillTrigs(Grenoble,F),andFriedrich Wahl(Braunschweig,D). Local Organizing Committee JackyBaltes,GeorgyGimel'farb,UlrichGun .. ther,JamesHarper,ReinhardKlette, CeciliaLourdes,BruceMacDonald,S. Manoharan,SudhirReddy,andSharon Walker. Sponsors TheInternationalAssociationforPatternRecognition MORST/DFG InstituteofElectricalandElectronicEngineers(IEEE)-NZNorthSection TheUniversityofAuckland,Tamakicampus VisualImpactAucklandLtd. Table of Contents Active Perception VisualCuesforaFixatingActiveAgent ...1 M?artenBj..orkmanandJan-OlofEklundh TrackingwithaNovelPoseEstimationAlgorithm .
..9 BodoRosenhahn,NorbertKru..ger,TorgeRabschandGeraldSommer Real-TimeTrackingofArticulatedHumanModels Usinga3DShape-from-SilhouetteMethod...19 JasonLuck,DanSmallandCharlesQ. Little Hierarchical3DPoseEstimationforArticulatedHumanBodyModels fromaSequenceofVolumeData...27 SebastianWeikandC. -E. Liedtke Vision-BasedRobotLocalizationUsingSporadicFeatures...35 StefanEnderle,HeikoFolkerts,MarcusRitter,StefanSablatn..og, GerhardKraetzschmarandGunth .. erPalm Poster Session1: Computer Vision AComparisonofFeatureMeasurementsforKineticStudies onHumanBodies...43 NikkiAustin,YenChen,ReinhardKlette,RobertMarshall, Yuan-shengTsaiandYongbaoZhang ObjectIdenti?cationandPoseEstimationforAutomaticManipulation ...52 BenjaminHohnhaeuserandGuenterHommel TowardSelf-calibrationofaStereoRigfromNoisyStereoscopicImages ...60 SlimaneLarabi AColorSegmentationAlgorithmforReal-TimeObjectLocalization onSmallEmbeddedSystems...69 PhilippeLeclercqandThomasBrau ..nl EYESCAN-AHighResolutionDigitalPanoramicCamera...77 KarstenScheibe,HartmutKorsitzky,RalfReulke,MartinScheele andMichaelSolbrig AWavelet-BasedAlgorithmforHeightfromGradients ...8
4 TiangongWeiandReinhardKlette EnhancedStereoVisionUsingFree-FormSurfaceMirrors...91 AlexanderWuerz,StefanK. GehrigandFridtjofJ. Stein VIII Table of Contents Poster Session2:Robotics& Video RoboCup-99:AStudent'sPerspective ...99 JackyBaltes Horus:ObjectOrientationandIdwithoutAdditionalMarkers ...107 JackyBaltes AnStereoscopicVisionSystemGuidinganAutonomousHelicopter forOverheadPowerCableInspection ...115 PascualCampoy,PedroJ. Garcia,AntonioBarrientos, JaimedelCerro,In"aquiAguirre,Andr'esRoa,RafaelGarcia andJos'eM. Muno"z 3DStereoVision-BasedNursingRobotforElderlyHealthCare ...125 Wee-SoonChing,EdwardHo,ChristopherOng,HsTayandSai-MuiLim E?cientComputationofIntensityPro?lesforReal-TimeVision ...131 ErnstDieterDickmanns SubpixelFlowDetectionbytheHoughTransform ...140 AtsushiImiyaandKeisukeIwawaki TrackingofMovingHeadsinClutteredScenesfromStereoVision ...148 RuijiangLuoandYanGuo ServoingMechanismsforPeg-In-HoleAssemblyOperations ...157 JosefPauli,ArneSchmidtandGeraldSommer RobotLocalizationUsingOmnidirectionalColorImages ...167 DavidC. K. YuenandBruceA. MacDonald TheBackgroundSubtractionProblemforVideoSurveillanceSystems ...1
76 AlanMcIvor,QiZangandReinhardKlette Computational Stereo StableMonotonicMatchingforStereoscopicVision ...184 ? RadimS'ara RandomSamplingandVotingMethod forThree-DimensionalReconstruction ...193 KazuhikoKawamotoandAtsushiImiya BinocularStereobyMaximizingtheLikelihoodRatioRelative toaRandomTerrain...201 GeorgyGimel'farb StereoReconstructionfromPolycentricPanoramas ...
目次
Active Perception.- Visual Cues for a Fixating Active Agent.- Tracking with a Novel Pose Estimation Algorithm.- Real-Time Tracking of Articulated Human Models Using a 3D Shape-from-Silhouette Method.- Hierarchical 3D Pose Estimation for Articulated Human Body Models from a Sequence of Volume Data.- Vision-Based Robot Localization Using Sporadic Features.- Computer Vision.- A Comparison of Feature Measurements for Kinetic Studies on Human Bodies.- Object Identification and Pose Estimation for Automatic Manipulation.- Toward Self-calibration of a Stereo Rig from Noisy Stereoscopic Images.- A Color Segmentation Algorithm for Real-Time Object Localization on Small Embedded Systems.- EYESCAN - A High Resolution Digital Panoramic Camera.- A Wavelet-Based Algorithm for Height from Gradients.- Enhanced Stereo Vision Using Free-Form Surface Mirrors.- Robotics & Video.- RoboCup-99: A Student's Perspective.- Horus: Object Orientation and Id without Additional Markers.- An Stereoscopic Vision System Guiding an Autonomous Helicopter for Overhead Power Cable Inspection.- 3D Stereo Vision-Based Nursing Robot for Elderly Health Care.- Efficient Computation of Intensity Profiles for Real-Time Vision.- Subpixel Flow Detection by the Hough Transform.- Tracking of Moving Heads in Cluttered Scenes from Stereo Vision.- Servoing Mechanisms for Peg-In-Hole Assembly Operations.- Robot Localization Using Omnidirectional Color Images.- The Background Subtraction Problem for Video Surveillance Systems.- Computational Stereo.- Stable Monotonic Matching for Stereoscopic Vision.- Random Sampling and Voting Method for Three-Dimensional Reconstruction.- Binocular Stereo by Maximizing the Likelihood Ratio Relative to a Random Terrain.- Stereo Reconstruction from Polycentric Panoramas.- Robotic Vision.- Two Modules of a Vision-Based Robotic System: Attention and Accumulation of Object Representations.- Compatibilities for the Perception-Action Cycle.- Trifocal Tensors with Grassmann-Cayley Algebra.- Camera Calibration Using Rectangular Textures.- Image Acquisition.- Optical Flow in Log-mapped Image Plane.- Hypothetically Modeled Perceptual Sensory Modality of Human Visual Selective Attention Scheme by PFC-Based Network.- Results of Test Flights with the Airborne Digital Sensor ADS40.- Localized Video Compression for Machine Vision.
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