VisualMemory

[A short Description]

People

• Julio Vega (julio [dot] vega [at] urjc [dot] es)
• José María Cañas Plaza (jmplaza [at] gsyc [dot] es)

Development

• Jde Version: jderobot-4.3
• SVN Repository: source code
• Trac. It is the trac already used for JDE development, but all the relevant tickets to this project belongs to the "robotvision" milestone
• Source License: GPLv3
• Document License: Creative Commons Attribution-Share Alike 3.0 Unported License
• Tags: robot, guide, navigation, vision, recognition
• Technology: c, c++, jde suite, openGL

Timeline

• 2012.05.07

Visual attention system with predictions. See more details

• 2012.05.03

Parallelograms in memory. See more details

• 2012.03.05

Visual attention system using "giraffe" device. See more details

• 2012.02.26

Visual memory using "giraffe" device. See more details

• 2011.12.07

Parallelograms attention system. See more details

• 2011.12.05

Recognizing parallelograms. See more details

• 2011.11.25

Long term memory. See more details

• 2011.11.23

Geometric model includes Pan & Tilt movements. See more details

• 2011.11.22

Short term memory. See more details

• 2011.10.11

3D segments reconstruction with Solis Algorithm. See more details

• 2011.09.12

New Visual Memory GUI. See more details

• 2011.09.12

Solis Algorithm. See more details

• 2011.05.26

New GUI with several windows. See more details

• 2011.05.18

New 3D segments reconstruction with JDE-5.0 implementation. See more details

Timeline details

2012.05.07. Visual attention system with predictions

In this video, our system is able to predict segments and parallelograms in memory. We can see how it recognizes several objects such as hard disk, phone or ipod, and how it instantly removes them from memory when they've disappeared from scene.

2012.05.03. Parallelograms in memory

Now we're using a clean environment with usual objects such as: mobile phone, pads, etc. The tilt angle has been modified in order to avoid certain tilt movements.

2012.02.26. Visual memory using "giraffe" device

Here we can see how our system is able to recognize segments from scene around robot. The main difficulty is to use the real "giraffe" device, including pan & tilt movements to the geometric model.

2011.11.22. Short term memory

Parallelograms guides the attention system. We can see a blue cross on the floor, which symbolize where the camera is pointing. It has to match with the parallelogram center where camera is pointing to. Sometimes, the robot attention system generates a random focus-point in order to explore all scene around itself.

2011.12.07. Parallelograms attention system

Parallelograms guides the attention system. We can see a blue cross on the floor, which symbolize where the camera is pointing. It has to match with the parallelogram center where camera is pointing to. Sometimes, the robot attention system generates a random focus-point in order to explore all scene around itself.

2011.12.05. Recognizing parallelograms

Now, system is able to hypothesize parallelograms. It just needs to get three points which are forming a parallelogram shape.

2011.11.25. Long term memory

In this experiment, the robot goes around the corridor of our building and it does a complete lap.

2011.11.23. Geometric model includes Pan & Tilt movements

Now we have included pan & tilt movements to the geometric model.

2011.11.22. Short term memory

Here we can see how our system is able to recognize segments from scene around robot.

2011.10.11. 3D segments reconstruction with Solis Algorithm

We recognize 2D segments on the 2D image with Solis Algorithm and then, they're back-projected over floor (ground hypothesis). We can see in this image result is plausible.

2011.10.06. New Visual Memory GUI

Here we can see the new GUI.

2011.09.12. Solis Algorithm

We can see the 2D segmentation algorithm based on a Solis' paper. It's work fine, much better than Canny+Hough Transform process.

2011.05.26. New GUI with several windows

On this video, we show the new functionality. Our schema includes three windows: main, opengl and navigation controller.

2011.05.18. New 3D segments reconstruction with JDE-5.0 implementation

We start to implement our visual memory under Jde-5.0 implementation. Now, our algorithm is inside an Ice component, codified in C++ language. We're using Gazebo 0.9 as a robotics simulator and a Pioneer 2DX as a robot platform, with two Sony PTZ simulated cameras.

In this first step, we try to recognize 2D segments on the 2D image and then, they're back-projected over floor (ground hypothesis). Our algorithm uses Canny as a border filter and Hough Transform as a segment filter. We can see in this image result is not plausible.