| 1. |
- Asklund, Ulf, et al.
(författare)
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The unified extensional versioning model
- 1999
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Ingår i: System Configuration Management - 9th International Symposium, SCM 1999, Proceedings. - Berlin, Heidelberg : Springer Berlin Heidelberg. - 1611-3349 .- 0302-9743. - 354066484X - 9783540664840 ; 1675, s. 100-122
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Konferensbidrag (refereegranskat)abstract
- Versioning of components in a system is a well-researched field where various adequate techniques have already been established. In this paper, we look at how versioning can be extended to cover also the structural aspects of a system. There exist two basic techniques for versioning - intentional and extensional - and we propose a unified extensional versioning model for versioning of both components and structure in the same way. The unified model is described in detail and three different policies that can be implemented on top of the general model are exemplified/illustrated by three prototype tools constructed by the authors. The model is analysed with respect to the number of versions and con- figurations it generates and has to manage. Finally, the unified extensional model is compared to more traditional intentional models on some important parameters. The conclusions are that the unified model is indeed viable. It not only pro- vides the functionality offered by the intentional model with respect to flexibility during development and management of combinatoric complexity, but also offers a framework for management of configurations that enables systems to provide much more advanced support than is commonly available.
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| 2. |
- Kragic, Danica, et al.
(författare)
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Using a redundant coarsely calibrated vision system for 3d grasping
- 1999
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Konferensbidrag (refereegranskat)abstract
- The influence of a redundant camera system for estimation of 3D object position and orientation in a manipulator´s workspace is analysed. The paper analyses the accuracy that can be achieved using a trinocular stereo system, that only has been qualiatively calibrated. By using stereo combined with a third camera a significant improvment in accuracy is achieved. An experimental system, which exploits colour and Hough transform for object pose estimation, is used for empirical assessment of accuracy in the context of object grasping.
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| 3. |
- Sidenbladh, Hedvig, et al.
(författare)
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Person following behaviour for a mobile robot
- 1999
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. ; , s. 670-675
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Konferensbidrag (refereegranskat)abstract
- In this paper, a person following behaviour for a mobile robot is presented. The head of the person is located using skin colour detection. Then, a control loop is fed with the camera movements required to put the upper part of the person in the center of the image. The algorithm was tested in different rooms of a research lab. It performed well in all lightings except in direct sunlight. Since the background and lighting cannot be controlled, the vision algorithm must be robust to such changes. However, since the computing power is quite limited, the algorithm must have as low complexity as possible.
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