Real-time automated visual inspection using mobile robots
Autor(a) principal: | |
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Data de Publicação: | 2007 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT)) |
Texto Completo: | http://repositorio.utfpr.edu.br/jspui/handle/1/645 |
Resumo: | We present a framework to perform novelty detection using visual input in which a mobile robot first learns a model of normality in its operating environment and later uses this to highlight uncommon visual features that may appear. This ability is of great importance for both robotic exploration and inspection tasks, because it enables the robot to allocate computational and attentional resources efficiently to those features which are novel. At the heart of the proposed system is the image encoding mechanism which uses local colour statistics from regions selected by a biologically-inspired model of visual attention. Our approach works in real-time with a wide, unrestricted field of view and is robust to image transformations. Experiments conducted in an engineered scenario demonstrate the efficiency and functionality of our method. |
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2013-11-19T14:02:34Z2013-11-19T14:02:34Z2007-07VIEIRA NETO, Hugo; NEHMZOW, Ulrich. Real-time automated visual inspection using mobile robots. Journal of Intelligent and Robotic Systems, Alemanha, v. 49, n. 3, p. 293-307, jul. 2007. Disponível em: <http://link.springer.com/content/pdf/10.1007%2Fs10846-007-9146-9.pdf>. Acesso em: 16 jul. 2013.0921-0296http://repositorio.utfpr.edu.br/jspui/handle/1/64510.1007/s10846-007-9146-9We present a framework to perform novelty detection using visual input in which a mobile robot first learns a model of normality in its operating environment and later uses this to highlight uncommon visual features that may appear. This ability is of great importance for both robotic exploration and inspection tasks, because it enables the robot to allocate computational and attentional resources efficiently to those features which are novel. At the heart of the proposed system is the image encoding mechanism which uses local colour statistics from regions selected by a biologically-inspired model of visual attention. Our approach works in real-time with a wide, unrestricted field of view and is robust to image transformations. Experiments conducted in an engineered scenario demonstrate the efficiency and functionality of our method.engJournal of Intelligent and Robotic Systemshttp://link.springer.com/content/pdf/10.1007%2Fs10846-007-9146-9.pdfO autor pode arquivar a versão preprint. O autor pode arquivar a versão postprint. Disponível: <http://www.sherpa.ac.uk/romeo/issn/0921-0296/pt/>. Acesso em: 17 jul. 2013.info:eu-repo/semantics/openAccessRobôs móveisRobóticaVisão por computadorRedes neurais (Computação)Mobile robotsRoboticsComputer visionNeural networks (Computer science)Real-time automated visual inspection using mobile robotsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleCuritibaVieira Neto, HugoNehmzow, Ulrichreponame:Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))instname:Universidade Tecnológica Federal do Paraná (UTFPR)instacron:UTFPRTHUMBNAILJ. INTELL. ROBOT. SYST._Vieira Neto, Hugo_2007.pdf.jpgJ. INTELL. ROBOT. SYST._Vieira Neto, Hugo_2007.pdf.jpgGenerated Thumbnailimage/jpeg1351http://repositorio.utfpr.edu.br:8080/jspui/bitstream/1/645/4/J.%20INTELL.%20ROBOT.%20SYST._Vieira%20Neto%2c%20Hugo_2007.pdf.jpg7d8fa9516419413aaef74381d89a961aMD54ORIGINALJ. INTELL. ROBOT. SYST._Vieira Neto, Hugo_2007.pdfJ. INTELL. ROBOT. 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dc.title.pt_BR.fl_str_mv |
Real-time automated visual inspection using mobile robots |
title |
Real-time automated visual inspection using mobile robots |
spellingShingle |
Real-time automated visual inspection using mobile robots Vieira Neto, Hugo Robôs móveis Robótica Visão por computador Redes neurais (Computação) Mobile robots Robotics Computer vision Neural networks (Computer science) |
title_short |
Real-time automated visual inspection using mobile robots |
title_full |
Real-time automated visual inspection using mobile robots |
title_fullStr |
Real-time automated visual inspection using mobile robots |
title_full_unstemmed |
Real-time automated visual inspection using mobile robots |
title_sort |
Real-time automated visual inspection using mobile robots |
author |
Vieira Neto, Hugo |
author_facet |
Vieira Neto, Hugo Nehmzow, Ulrich |
author_role |
author |
author2 |
Nehmzow, Ulrich |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Vieira Neto, Hugo Nehmzow, Ulrich |
dc.subject.por.fl_str_mv |
Robôs móveis Robótica Visão por computador Redes neurais (Computação) Mobile robots Robotics Computer vision Neural networks (Computer science) |
topic |
Robôs móveis Robótica Visão por computador Redes neurais (Computação) Mobile robots Robotics Computer vision Neural networks (Computer science) |
description |
We present a framework to perform novelty detection using visual input in which a mobile robot first learns a model of normality in its operating environment and later uses this to highlight uncommon visual features that may appear. This ability is of great importance for both robotic exploration and inspection tasks, because it enables the robot to allocate computational and attentional resources efficiently to those features which are novel. At the heart of the proposed system is the image encoding mechanism which uses local colour statistics from regions selected by a biologically-inspired model of visual attention. Our approach works in real-time with a wide, unrestricted field of view and is robust to image transformations. Experiments conducted in an engineered scenario demonstrate the efficiency and functionality of our method. |
publishDate |
2007 |
dc.date.issued.fl_str_mv |
2007-07 |
dc.date.accessioned.fl_str_mv |
2013-11-19T14:02:34Z |
dc.date.available.fl_str_mv |
2013-11-19T14:02:34Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
VIEIRA NETO, Hugo; NEHMZOW, Ulrich. Real-time automated visual inspection using mobile robots. Journal of Intelligent and Robotic Systems, Alemanha, v. 49, n. 3, p. 293-307, jul. 2007. Disponível em: <http://link.springer.com/content/pdf/10.1007%2Fs10846-007-9146-9.pdf>. Acesso em: 16 jul. 2013. |
dc.identifier.uri.fl_str_mv |
http://repositorio.utfpr.edu.br/jspui/handle/1/645 |
dc.identifier.issn.none.fl_str_mv |
0921-0296 |
dc.identifier.DOI.pt_BR.fl_str_mv |
10.1007/s10846-007-9146-9 |
identifier_str_mv |
VIEIRA NETO, Hugo; NEHMZOW, Ulrich. Real-time automated visual inspection using mobile robots. Journal of Intelligent and Robotic Systems, Alemanha, v. 49, n. 3, p. 293-307, jul. 2007. Disponível em: <http://link.springer.com/content/pdf/10.1007%2Fs10846-007-9146-9.pdf>. Acesso em: 16 jul. 2013. 0921-0296 10.1007/s10846-007-9146-9 |
url |
http://repositorio.utfpr.edu.br/jspui/handle/1/645 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.ispartof.pt_BR.fl_str_mv |
Journal of Intelligent and Robotic Systems |
dc.relation.uri.pt_BR.fl_str_mv |
http://link.springer.com/content/pdf/10.1007%2Fs10846-007-9146-9.pdf |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Curitiba |
publisher.none.fl_str_mv |
Curitiba |
dc.source.none.fl_str_mv |
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UTFPR |
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UTFPR |
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