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The United States is currently pursuing renewable energy research and education initiatives. To contribute to both of these objectives, an interactive environment that provides educational opportunities related to wind energy for students in K-12, college, and the community was created. The efforts are based on an 80 ft tall 20kW wind turbine that was installed at the South Dakota School of Mines...
This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline...
Place recognition, i.e., the ability to recognize previously seen parts of the environment, is one of the fundamental tasks in mobile robotics. The wide range of applications of place recognition includes localization (determine the initial pose), SLAM (detect loop closures), and change detection in dynamic environments. In the past, only relatively little work has been carried out to attack this...
Object recognition and especially object class recognition is and will be a key capability in home robotics when robots have to tackle manipulation tasks and grasp new objects or just have to search for objects. The goal is to have a robot classify 'never before seen objects' at first occurrence in a single view in a fast and robust manner. The classification task can be seen as a matching problem,...
Recognizing human activities from common color image sequences faces many challenges, such as complex backgrounds, camera motion, and illumination changes. In this paper, we propose a new 4-dimensional (4D) local spatio-temporal feature that combines both intensity and depth information. The feature detector applies separate filters along the 3D spatial dimensions and the 1D temporal dimension to...
In this paper we propose a new method for 3D facial expression recognition. We make use of the Zernike moments, which are calculated in the depth image of a 3D facial point cloud. Combining, the Zernike moments along with the 3D point clouds and the depth images, we succeed in tackling problems arising in facial expression recognition due to affine transformations of the data, such as translation,...
Stereoscopic Quality of Experience (QoE) is the result of a complex combination of different influencing factors. Previously we had investigated the effect of factors such as scene content, camera baseline, screen size and viewing position on stereoscopic QoE using subjective tests. In this paper, we propose two objective metrics for predicting stereoscopic QoE using bottom-up and top-down approaches,...
Allowing a robot to acquire 3D object models autonomously not only requires robust feature detection and learning methods but also mechanisms for guiding learning and assessing learning progress. In this paper we present probabilistic measures for observed detection success, predicted detection success and the completeness of learned models, where learning is incremental and online. This allows the...
One of the key features of the human auditory system, is its nearly constant omni-directional sensitivity, e.g., the system reacts to alerting signals coming from a direction away from the sight of focused visual attention. In many surveillance situations where visual attention completely fails since the robot cameras have no direct line of sight with the sound sources, the ability to estimate the...
Payload recognition is an important ability for autonomous industrial vehicles. While scanning laser rangefinders are commonly used on autonomous vehicles, most provide only 2D range scans. The goal of this research is to use the 2D range data to accurately identify an initially unknown 3D asymmetric payload. Typical approaches to payload recognition use either artificial markers or models with relatively...
A commonly accepted fact in the biometrics related domain is that fusing multiple classifiers for decision making generally leads to improved recognition performance. Meanwhile, the search for an optimal fusion strategy remains extraordinarily complex since the cardinality of the space of possible fusion schemes is exponentially proportional to the number of competing classifiers. In this paper, we...
We propose a new system for building a 3D database for human teeth. Real extracted human teeth are scanned using a cone-beam CT scanner to build. The teeth models are segmented from the resulting images by means of level sets. The database includes 3D models of these teeth after minimizing global differences between the models. An affine transformation function is used to model the differences between...
In this contribution a novel method to compute dense point-to-point correspondences between 3D faces is presented. The faces are aligned in 3D space with a Generalized Procrustes Analysis and subsequently mapped into 2D space. To compute a correspondence flow between two faces an energy function is minimized which is based on the following assumptions: smoothness of the flow, mapping of landmarks...
In this paper, an efficient 2D shape matching algorithm is proposed. The proposed algorithm uses the mean distances and standard deviations of shape contexts as the index of shapes to reduce the search space of the previous work on shape matching with shape context descriptor. The best-fit ellipse modeling is adopted as the preprocessing for normalizing its scale. The simulation databases include...
Computer vision applications are present in our daily activities. In this paper, we feature three applications of computer vision, running in residential, office and industrial environments, respectively. Optical character recognition is a well-known task that can save lots of time when processing handwritten information. OCRFORMSv2 is a complete software system aimed at helping people in the task...
This paper describes on the technology of systems integration that allows users to connect and use two or more software at the same time. This technology will facilitate the method and processes involved in the development and presentation of the new system in order for the system to give a better performance. The objective of this study is to integrate CAD system and MySQL database using AutoCAD,...
Human actions are diversified and complicated, and hence difficult to be recognized by artificial intelligence systems. Recognizing actions in broadcast videos is even more challenging due to low resolution and frame rate. During the past decades, many talented researchers are devoted to this field, and several promising algorithms are developed to achieve great performance. The well known methods...
Since the geometry of the face changes drastically under expression variation, it is one of the greatest challenges in 3D face recognition to design systems that are robust to this variability. In this paper, we introduce a new representation of 3D faces in which all facial features are aligned over different faces. This representation contains highly discriminative features and is particularly useful...
In this paper, the combination of different projected shape features is proposed for 3D model retrieval. The projection features include the elevation value (depth), the radial distance, and the angle of a surface mesh. For each of the characteristic values (elevation value, radial distance, and angle value), six projection planes represented as gray-level images will be generated. The MPEG-7 angular...
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