Visual perception for manipulation and imitation in humanoid robots:
Gespeichert in:
1. Verfasser: | |
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Format: | Buch |
Sprache: | English |
Veröffentlicht: |
Berlin [u.a.]
Springer
2009
|
Schriftenreihe: | Cognitive systems monographs
4 |
Schlagworte: | |
Online-Zugang: | Inhaltsverzeichnis |
Beschreibung: | Literaturverz. S. 255 - 265 |
Beschreibung: | XIV, 270 S. 24 cm |
ISBN: | 9783642042287 |
Internformat
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100 | 1 | |a Azad, Pedram |e Verfasser |4 aut | |
245 | 1 | 0 | |a Visual perception for manipulation and imitation in humanoid robots |c Pedram Azad |
264 | 1 | |a Berlin [u.a.] |b Springer |c 2009 | |
300 | |a XIV, 270 S. |c 24 cm | ||
336 | |b txt |2 rdacontent | ||
337 | |b n |2 rdamedia | ||
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490 | 1 | |a Cognitive systems monographs |v 4 | |
500 | |a Literaturverz. S. 255 - 265 | ||
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650 | 4 | |a Robots |x Control systems | |
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650 | 0 | 7 | |a Motion Capturing |0 (DE-588)4546181-8 |2 gnd |9 rswk-swf |
650 | 0 | 7 | |a Objekterkennung |0 (DE-588)4314334-9 |2 gnd |9 rswk-swf |
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Datensatz im Suchindex
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adam_text | CONTENTS 1 INTRODUCTION 1 1.1 MOTIVATION AND SCOPE 1 1.2 CONTRIBUTION 2
1.3 OUTLINE 4 2 STATE OF THE ART IN OBJECT RECOGNITION AND POSE
ESTIMATION 7 2.1 APPEARANCE-BASED METHODS 7 2.1.1 GLOBAL APPROACHES 8
2.1.2 LOCAL APPROACHES 16 2.2 MODEL-BASED METHODS 27 2.2.1 EDGE-BASED
OBJECT TRACKING 27 2.2.2 EDGE-BASED OBJECT RECOGNITION 35 2.2.3 POSE
ESTIMATION BASED ON MATCHED FEATURE POINTS 41 2.2.4 OBJECT RECOGNITION
BASED ON 3D POINT CLOUDS 43 2.2.5 HYBRID APPROACHES 45 2.3 COMPARISON 45
3 STATE OF THE ART IN HUMAN MOTION CAPTURE 49 3.1 VICON 50 3.2 SYSTEMS
USING A SEARCH METHOD 51 3.3 SYSTEMS USING A MINIMIZATION METHOD 52
3.3.1 MINIMIZATION METHOD FOR ARTICULATED OBJECTS 52 3.3.2 SYSTEMS USING
A 3D-3D MINIMIZATION METHOD 55 3.3.3 SYSTEMS USING A 2D-3D MINIMIZATION
METHOD 58 3.4 SYSTEMS BASED ON PARTICLE FILTERING 59 3.5 POSE ESTIMATION
BASED ON SILHOUETTES 62 3.6 COMPARISON 64 BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/995654697 DIGITALISIERT DURCH XII CONTENTS 4
FUNDAMENTALS OF IMAGE PROCESSING 67 4.1 CAMERA MODEL 67 4.1.1 COORDINATE
SYSTEMS 68 4.1.2 INTRINSIC CAMERA PARAMETERS OF THE LINEAR MAPPING 69
4.1.3 EXTRINSIC CAMERA PARAMETERS 70 4.1.4 DISTORTION PARAMETERS 70
4.1.5 OVERVIEW 73 4.2 SEGMENTATION 74 4.2.1 THRESHOLDING 74 4.2.2
BACKGROUND SUBTRACTION 75 4.2.3 COLOR SEGMENTATION 76 4.3 CORRELATION
METHODS 77 4.3.1 GENERAL DEFINITION 78 4.3.2 NON-NORMALIZED CORRELATION
FUNCTIONS 79 4.3.3 NORMALIZED CORRELATION FUNCTIONS 79 4.4 HOMOGRAPHY 81
4.4.1 GENERAL DEFINITION 82 4.4.2 LEAST SQUARES COMPUTATION OF
HOMOGRAPHY PARAMETERS 82 4.5 PRINCIPAL COMPONENT ANALYSIS 84 4.5.1
MATHEMATICAL DEFINITION 84 4.5.2 EIGENSPACE 85 4.5.3 APPLICATION 85 4.6
PARTICLE FILTERING 86 4.7 RANSAC 89 5 GUIDING PRINCIPLES 91 5.1 WAYS OF
USING CALIBRATED STEREO CAMERA SYSTEMS 91 5.2 EYE MOVEMENTS 92 5.3
RECTIFICATION OF STEREO IMAGE PAIRS 93 5.4 UNDISTORTION OF IMAGES 94 5.5
GRASP EXECUTION 94 5.6 INITIATION LEARNING 96 6 STEREO-BASED OBJECT
RECOGNITION AND POSE ESTIMATION SYSTEM 99 6.1 RECOGNITION AND POSE
ESTIMATION BASED ON THE SHAPE 99 6.1.1 PROBLEM DEFINITION 101 6.1.2
BASIC APPROACH 102 6.1.3 ORIENTATION CORRECTION 107 6.1. CONTENTS XIII
6.2.2 FEATURE CALCULATION 125 6.2.3 RECOGNITION AND 2D LOCALIZATION 129
6.2.4 6-DOF POSE ESTIMATION 136 6.2.5 OCCLUSIONS 141 6.2.6 INCREASING
ROBUSTNESS 142 6.2.7 RUNTIME CONSIDERATIONS 144 6.2.8 SUMMARY OF THE
ALGORITHM 145 7 STEREO-BASED MARKERLESS HUMAN MOTION CAPTURE SYSTEM 147
7.1 PROBLEM DEFINITION 148 7.2 HUMAN UPPER BODY MODEL 148 7.2.1
KINEMATIC MODEL 148 7.2.2 GEOMETRIC MODEL 148 7.3 GENERAL PARTICLE
FILTERING FRAMEWORK FOR HUMAN MOTION CAPTURE 150 7.3.1 EDGE CUE 151
7.3.2 REGION CUE 153 7.3.3 FUSION OF MULTIPLE CUES 153 7.4 CUES IN THE
PROPOSED SYSTEM 154 7.4.1 EDGE CUE 154 7.4.2 DISTANCE CUE 154 7.4.3 CUE
COMPARISON 155 7.4.4 USING A CALIBRATED STEREO SYSTEM 161 7.5 IMAGE
PROCESSING PIPELINE 162 7.6 HAND/HEAD TRACKING 164 7.7 HIERARCHICAL
SEARCH 169 7.8 FUSING THE EDGE CUE AND THE DISTANCE CUE 170 7.9 ADAPTIVE
NOISE 173 7.10 ADAPTIVE SHOULDER POSITION 175 7.11 INCORPORATING INVERSE
KINEMATICS 178 7.12 SUMMARY OF THE ALGORITHM 182 8 SOFTWARE AND
INTERFACES 185 8.1 INTEGRATING VISION TOOLKIT 185 8.1.1 IMPLEMENTATION
185 8.1.2 THE CLASS CBYTELMAGE 186 8.1.3 IMPLEMENTATION OF GRAPHICAL
USER INTERFACES 186 8.1.4 CONNECTION OF IMAGE SOURCES 187 8.1.5
INTEGRATION OF OPENCV 188 8.1. XIV CONTENTS 8.3 INTERFACES 196 8.3.1
OBJECT RECOGNITION AND POSE ESTIMATION 196 8.3.2 HUMAN MOTION CAPTURE
197 9 EVALUATION 199 9.1 RECOGNITION AND POSE ESTIMATION SYSTEM BASED ON
THE SHAPE 200 9.1.1 ACCURACY 200 9.1.2 REAL-WORLD EXPERIMENTS 207 9.1.3
RUNTIME 209 9.2 RECOGNITION AND POSE ESTIMATION SYSTEM BASED ON TEXTURE
211 9.2.1 ACCURACY 211 9.2.2 REAL-WORLD EXPERIMENTS 221 9.2.3 RUNTIME
221 9.3 MARKERLESS HUMAN MOTION CAPTURE SYSTEM 224 9.3.1 AUTOMATIC
INITIALIZATION 224 9.3.2 REAL-WORLD EXPERIMENTS AND ACCURACY 225 9.3.3
RUNTIME 228 10 CONCLUSION 231 10.1 CONTRIBUTION 231 10.2 EXAMPLE
APPLICATIONS 233 10.3 DISCUSSION AND OUTLOOK 234 A MATHEMATICS 237 A.I
SINGULAR VALUE DECOMPOSITION 237 A.2 PSEUDOINVERSE 237 A.2.1 USING THE
REGULAR INVERSE 237 A.2.2 USING THE SINGULAR VALUE DECOMPOSITION 238 A.3
LINEAR LEAST SQUARES 238 A.3.1 USING THE NORMAL EQUATION 238 A.3.2 USING
THE QR DECOMPOSITION 239 A.3.3 USING THE SINGULAR VALUE DECOMPOSITION
239 A.3.4 HOMOGENEOUS SYSTEMS 239 A.4 FUNCTIONS FOR ROTATIONS 239 B FILE
FORMATS 243 B.I CAMERA PARAMETERS 243 LIST OF FIGURES 245 LIST OF TABLES
25
|
any_adam_object | 1 |
author | Azad, Pedram |
author_facet | Azad, Pedram |
author_role | aut |
author_sort | Azad, Pedram |
author_variant | p a pa |
building | Verbundindex |
bvnumber | BV035943642 |
callnumber-first | T - Technology |
callnumber-label | TJ211 |
callnumber-raw | TJ211.3 |
callnumber-search | TJ211.3 |
callnumber-sort | TJ 3211.3 |
callnumber-subject | TJ - Mechanical Engineering and Machinery |
classification_rvk | ST 308 ST 330 |
classification_tum | DAT 815f DAT 760f PSY 205f |
ctrlnum | (OCoLC)436030884 (DE-599)DNB995654697 |
dewey-full | 629.892 629.8932 |
dewey-hundreds | 600 - Technology (Applied sciences) |
dewey-ones | 629 - Other branches of engineering |
dewey-raw | 629.892 629.8932 |
dewey-search | 629.892 629.8932 |
dewey-sort | 3629.892 |
dewey-tens | 620 - Engineering and allied operations |
discipline | Maschinenbau / Maschinenwesen Informatik Psychologie Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
format | Book |
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id | DE-604.BV035943642 |
illustrated | Not Illustrated |
indexdate | 2024-07-09T22:07:49Z |
institution | BVB |
isbn | 9783642042287 |
language | English |
oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018800838 |
oclc_num | 436030884 |
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owner | DE-473 DE-BY-UBG DE-83 DE-91 DE-BY-TUM DE-91G DE-BY-TUM |
owner_facet | DE-473 DE-BY-UBG DE-83 DE-91 DE-BY-TUM DE-91G DE-BY-TUM |
physical | XIV, 270 S. 24 cm |
publishDate | 2009 |
publishDateSearch | 2009 |
publishDateSort | 2009 |
publisher | Springer |
record_format | marc |
series | Cognitive systems monographs |
series2 | Cognitive systems monographs |
spelling | Azad, Pedram Verfasser aut Visual perception for manipulation and imitation in humanoid robots Pedram Azad Berlin [u.a.] Springer 2009 XIV, 270 S. 24 cm txt rdacontent n rdamedia nc rdacarrier Cognitive systems monographs 4 Literaturverz. S. 255 - 265 Robot vision Robots Control systems Pose (DE-588)4486507-7 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 gnd rswk-swf Motion Capturing (DE-588)4546181-8 gnd rswk-swf Objekterkennung (DE-588)4314334-9 gnd rswk-swf Maschinelles Lernen (DE-588)4193754-5 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 s Motion Capturing (DE-588)4546181-8 s Objekterkennung (DE-588)4314334-9 s Pose (DE-588)4486507-7 s Lokalisierung Robotik (DE-588)7569134-6 s Maschinelles Lernen (DE-588)4193754-5 s DE-604 Cognitive systems monographs 4 (DE-604)BV035296331 4 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018800838&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
spellingShingle | Azad, Pedram Visual perception for manipulation and imitation in humanoid robots Cognitive systems monographs Robot vision Robots Control systems Pose (DE-588)4486507-7 gnd Humanoider Roboter (DE-588)7576811-2 gnd Motion Capturing (DE-588)4546181-8 gnd Objekterkennung (DE-588)4314334-9 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd |
subject_GND | (DE-588)4486507-7 (DE-588)7576811-2 (DE-588)4546181-8 (DE-588)4314334-9 (DE-588)4193754-5 (DE-588)7569134-6 |
title | Visual perception for manipulation and imitation in humanoid robots |
title_auth | Visual perception for manipulation and imitation in humanoid robots |
title_exact_search | Visual perception for manipulation and imitation in humanoid robots |
title_full | Visual perception for manipulation and imitation in humanoid robots Pedram Azad |
title_fullStr | Visual perception for manipulation and imitation in humanoid robots Pedram Azad |
title_full_unstemmed | Visual perception for manipulation and imitation in humanoid robots Pedram Azad |
title_short | Visual perception for manipulation and imitation in humanoid robots |
title_sort | visual perception for manipulation and imitation in humanoid robots |
topic | Robot vision Robots Control systems Pose (DE-588)4486507-7 gnd Humanoider Roboter (DE-588)7576811-2 gnd Motion Capturing (DE-588)4546181-8 gnd Objekterkennung (DE-588)4314334-9 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd |
topic_facet | Robot vision Robots Control systems Pose Humanoider Roboter Motion Capturing Objekterkennung Maschinelles Lernen Lokalisierung Robotik |
url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018800838&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
volume_link | (DE-604)BV035296331 |
work_keys_str_mv | AT azadpedram visualperceptionformanipulationandimitationinhumanoidrobots |