CISE Research Instrumentation: Combining Vision and Motion in Robot Systems

将购置计算机工作站和图像序列采集和处理设备，专门用于计算机和信息科学与工程的研究。这些设备将用于几个研究项目，所有这些项目都与视觉和运动相结合的过程和系统中的计算和算法问题有关。这些项目包括：(1)机器人探索三维场景中的目的视觉，(2)图像序列中的动态光度特性分析，(3)共用空间的两个全灵敏机械臂的运动规划，(4)基于传感器的非结构化环境下移动机器人的运动规划，以及(5)使用蛇模型跟踪运动目标。这将为图像采集、处理、运动规划和运动模拟提供设施，使这些项目能够对正在开发的理论和算法方法进行必要的实验测试。

Computer workstations and image sequence acquisition and processing equipment will be acquired and dedicated to research in computer and information science and engineering. The equipment will be used for several research projects, all concerned with the computational and algorithmic issues in processes and systems that combine vision and motion. These projects include: (1) purposive vision in robot exploration of three-dimensional scenes, (2) analysis of dynamic photometric properties in image sequences, (3) motion planning for two whole-sensitive robot arm manipulators sharing common space, (4) sensor-based motion planning for a mobile robot operating in an unstructured environment, and (5) tracking moving objects using snake models. This will provide facilities for image acquisition, processing, motion planning and motion simulation, enabling these projects to perform necessary experimental testing of the theoretical and algorithmic methods that are being developed.