3D robotic vision is proposed using a neural network model that forms sparse distributed memory traces of spatiotemporal episodes of an object. These episodes are generated by the robot interaction with the environment or by robot's movement around 3D object and its perspective to the objects. The traces are distributed in each cell and synapse that participates in many traces. This sharing of representational substrate enables the model for similarity based generalization and thus semantic memory. The results are provided showing that spatiotemporal patterns map to similar traces, as a first step for robot 3D vision system. The model achieves this property by measuring the degree of similarity between the current input pattern on each frame and the expected input given the preceding frame and then adding an amount of noise, inversely proportional to the degree of similarity, to the process of choosing the internal representation for the current frame and the predictable input given the preceding frame.
{"title":"Semantic Spatiotemporal Memory toward 3D Robotic Vision","authors":"A. R. Hafiz, K. Murase","doi":"10.1109/RVSP.2013.61","DOIUrl":"https://doi.org/10.1109/RVSP.2013.61","url":null,"abstract":"3D robotic vision is proposed using a neural network model that forms sparse distributed memory traces of spatiotemporal episodes of an object. These episodes are generated by the robot interaction with the environment or by robot's movement around 3D object and its perspective to the objects. The traces are distributed in each cell and synapse that participates in many traces. This sharing of representational substrate enables the model for similarity based generalization and thus semantic memory. The results are provided showing that spatiotemporal patterns map to similar traces, as a first step for robot 3D vision system. The model achieves this property by measuring the degree of similarity between the current input pattern on each frame and the expected input given the preceding frame and then adding an amount of noise, inversely proportional to the degree of similarity, to the process of choosing the internal representation for the current frame and the predictable input given the preceding frame.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"17 1","pages":"238-241"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82705170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Visual recognition in multi-robot systems has a peculiar problem in that an observation from a different viewpoint gives a different perspective. Also, a representation of the same target object is highly affected by such a viewpoint or environmental condition. Hence it has become a challenge to realize cognitive sharing of the object or ROI between the robots without a help of artificial markers. In this paper, we propose consensus-making algorithms to acquire the viewpoint-invariant representation of the geometrical relations. Experimental results show the ability of cognitive sharing significantly improved by the proposed method.
{"title":"Consensus Making Algorithms Based on Invariants Perception for Cognitive Sharing in Multi-robot","authors":"S. Tomita, K. Sekiyama, T. Fukuda","doi":"10.1109/RVSP.2013.56","DOIUrl":"https://doi.org/10.1109/RVSP.2013.56","url":null,"abstract":"Visual recognition in multi-robot systems has a peculiar problem in that an observation from a different viewpoint gives a different perspective. Also, a representation of the same target object is highly affected by such a viewpoint or environmental condition. Hence it has become a challenge to realize cognitive sharing of the object or ROI between the robots without a help of artificial markers. In this paper, we propose consensus-making algorithms to acquire the viewpoint-invariant representation of the geometrical relations. Experimental results show the ability of cognitive sharing significantly improved by the proposed method.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"1 1","pages":"220-223"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89918206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes human behavior perception compound between passive perception and active perception. Human behavior is stored in a database for creating the life log to realize visualization system for supporting elderly people using iPad. First, we discuss the life log system configuration based on information ally structured space. We apply sensor network and smart phone for measuring human behavior to realize passive perception, and we also apply conversation system for conducting communication between robot partner and human to realize active perception. Next, we explain the database system that constructs information ally structured space. The cloud database is used to share the elderly people's life log information with the elderly people's family and caregivers through the visualization system. Finally, we discuss the usability of the Visualization System through experimental results.
{"title":"Life Log Visualization System Based on Informationally Structured Space for Supporting Elderly People","authors":"Yuri Yoshihara, Dalai Tang, N. Kubota","doi":"10.1109/RVSP.2013.25","DOIUrl":"https://doi.org/10.1109/RVSP.2013.25","url":null,"abstract":"This paper proposes human behavior perception compound between passive perception and active perception. Human behavior is stored in a database for creating the life log to realize visualization system for supporting elderly people using iPad. First, we discuss the life log system configuration based on information ally structured space. We apply sensor network and smart phone for measuring human behavior to realize passive perception, and we also apply conversation system for conducting communication between robot partner and human to realize active perception. Next, we explain the database system that constructs information ally structured space. The cloud database is used to share the elderly people's life log information with the elderly people's family and caregivers through the visualization system. Finally, we discuss the usability of the Visualization System through experimental results.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"14 1","pages":"78-83"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78901939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This research is to design and build a catamaran to be a green power ship, equipped with a brush less DC motor as its power, and installed with an integrated electric power system. This catamaran is mainly used in a reservoir, lakes, fresh water rivers, and other waters. In our research, we adopted a catamaran, integrating a user interface to testify the design theory and of catamarans and the stability of its full scale. The experiment in this research suggests that metacentric height of a catamaran is higher than that of a mono hull boat. Therefore, the hull construction which can remain balanced easily and prevent the waves surge on the deck, can be recognized as stiff boats.
{"title":"Designing and Building of a Catamaran and Its Stability Analysis","authors":"Wei-Yuan Dzan, S-Y. Chang, Keng-Chih Hsu","doi":"10.1109/RVSP.2013.41","DOIUrl":"https://doi.org/10.1109/RVSP.2013.41","url":null,"abstract":"This research is to design and build a catamaran to be a green power ship, equipped with a brush less DC motor as its power, and installed with an integrated electric power system. This catamaran is mainly used in a reservoir, lakes, fresh water rivers, and other waters. In our research, we adopted a catamaran, integrating a user interface to testify the design theory and of catamarans and the stability of its full scale. The experiment in this research suggests that metacentric height of a catamaran is higher than that of a mono hull boat. Therefore, the hull construction which can remain balanced easily and prevent the waves surge on the deck, can be recognized as stiff boats.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"1 1","pages":"148-152"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87089443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes a depression patient robot using the android robot. The purpose of this patient robot is to offer standardized and reproducible diagnosis training and education to psychiatrist trainees by using robot technologies instead of human standardized patients. Furthermore, it can be expected that psychiatrist trainees are able to experience realistic diagnosis as if they have an interview with a real human standardized patient by taking advantage of android robot technologies. In the proposed system, as the first step, the patient robot mimics unipolar depression, because it is a typical psychiatric disease. The robot expresses symptoms of unipolar depression by exploiting its communicative functions such as facial expressions, eye and head movements, and speech. Robot's speech and communicative behavior are controlled remotely by an operator according to a diagnosis scenario. The diagnosis scenario, question and answer process between an interviewer and the patient robot, is prepared based on the "Structured Interview Guide for the Hamilton Depression Rating Scale" (SIGH-D) which are widely used for diagnosis of depressed symptoms. Finally, some psychiatrists evaluate the proposed system through a diagnosis experiment.
{"title":"Android Patient Robot Simulating Depressed Patients for Diagnosis Training of Psychiatric Trainees","authors":"T. Hashimoto, H. Nakane, Hiroshi Kobayashi","doi":"10.1109/RVSP.2013.63","DOIUrl":"https://doi.org/10.1109/RVSP.2013.63","url":null,"abstract":"This paper proposes a depression patient robot using the android robot. The purpose of this patient robot is to offer standardized and reproducible diagnosis training and education to psychiatrist trainees by using robot technologies instead of human standardized patients. Furthermore, it can be expected that psychiatrist trainees are able to experience realistic diagnosis as if they have an interview with a real human standardized patient by taking advantage of android robot technologies. In the proposed system, as the first step, the patient robot mimics unipolar depression, because it is a typical psychiatric disease. The robot expresses symptoms of unipolar depression by exploiting its communicative functions such as facial expressions, eye and head movements, and speech. Robot's speech and communicative behavior are controlled remotely by an operator according to a diagnosis scenario. The diagnosis scenario, question and answer process between an interviewer and the patient robot, is prepared based on the \"Structured Interview Guide for the Hamilton Depression Rating Scale\" (SIGH-D) which are widely used for diagnosis of depressed symptoms. Finally, some psychiatrists evaluate the proposed system through a diagnosis experiment.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"23 1","pages":"247-252"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87918139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We propose an image retrieval based method for visual localization in indoor scenes, provided that a geotagged image database in indoor environments is given. For image retrieval, we introduce a voting based image similarity which is robust to geometric image transformations and occlusions. In order to further improve the performance of image retrieval, we introduce two additional procedures: multiple voting and a ratio test. These two procedures are effective in increasing the true positives and in decreasing the false positives, respectively. In addition, we introduce a particle filter to smoothly estimate the trajectory of a moving camera used for visual localization. In experiments with real images captured at an university library, we show that the proposed method outperforms a structure-from-motion based method.
{"title":"Visual Localization Using Voting Based Image Retrieval and Particle Filtering in Indoor Scenes","authors":"K. Kawamoto, H. Kazama, Kazushi Okamoto","doi":"10.1109/RVSP.2013.44","DOIUrl":"https://doi.org/10.1109/RVSP.2013.44","url":null,"abstract":"We propose an image retrieval based method for visual localization in indoor scenes, provided that a geotagged image database in indoor environments is given. For image retrieval, we introduce a voting based image similarity which is robust to geometric image transformations and occlusions. In order to further improve the performance of image retrieval, we introduce two additional procedures: multiple voting and a ratio test. These two procedures are effective in increasing the true positives and in decreasing the false positives, respectively. In addition, we introduce a particle filter to smoothly estimate the trajectory of a moving camera used for visual localization. In experiments with real images captured at an university library, we show that the proposed method outperforms a structure-from-motion based method.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"1 1","pages":"160-163"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85267740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A High Precision Pressure Data Acquisition System Based on MSC1210","authors":"Tiemei Yang","doi":"10.1109/RVSP.2011.51","DOIUrl":"https://doi.org/10.1109/RVSP.2011.51","url":null,"abstract":"","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"111 1","pages":"170-173"},"PeriodicalIF":0.0,"publicationDate":"2011-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76726448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fuzzy Recognition Based on the Total Matching Degree of Multi-features","authors":"J. Lei, Jianmin Zhu","doi":"10.1109/RVSP.2011.57","DOIUrl":"https://doi.org/10.1109/RVSP.2011.57","url":null,"abstract":"","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"78 2 1","pages":"56-60"},"PeriodicalIF":0.0,"publicationDate":"2011-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74766853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"GPC Control Menthod and Stability Analysis of Networked Control Systems","authors":"Zhiyi Sun, Qianlai Sun, Anhong Wang","doi":"10.1109/RVSP.2011.89","DOIUrl":"https://doi.org/10.1109/RVSP.2011.89","url":null,"abstract":"","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"59 1","pages":"186-189"},"PeriodicalIF":0.0,"publicationDate":"2011-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85052950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In recent years, image quality assessment has achieved great success. Many researchers have proposed more and more image quality assessment algorithms, which are being closer to human perception. However, some proposed algorithms could perform even better by doing some transformations on image. In this paper, a new image quality assessment based on contourlet transformation is proposed. And experimental results show the improvement of the novel algorithm.
{"title":"A New Image Quality Assessment Algorithm Based on Contourlet Transformation","authors":"Han Sun, Yanrui Liu","doi":"10.1109/RVSP.2013.34","DOIUrl":"https://doi.org/10.1109/RVSP.2013.34","url":null,"abstract":"In recent years, image quality assessment has achieved great success. Many researchers have proposed more and more image quality assessment algorithms, which are being closer to human perception. However, some proposed algorithms could perform even better by doing some transformations on image. In this paper, a new image quality assessment based on contourlet transformation is proposed. And experimental results show the improvement of the novel algorithm.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"80 1","pages":"120-122"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80956582","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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