Ernest L Hall | University of Cincinnati (original) (raw)

Papers by Ernest L Hall

Research paper thumbnail of Perception and Navigation Modeling in Humans and Intelligent Systems

Intelligent Engineering Systems through Artificial …, 2005

Research paper thumbnail of <title>Learning the optimal discriminant function through genetic learning algorithm</title>

Proceedings of SPIE, Feb 1, 1992

Learning the optimal discriminant function through genetic learning algorithm. [Proceedings of SP... more Learning the optimal discriminant function through genetic learning algorithm. [Proceedings of SPIE 1607, 614 (1992)]. James Z. Tu, Ernest L. Hall. Abstract. The problem of learning correct decision rules to minimize the probability ...

Research paper thumbnail of Segmentation Using Material Information

Optical Engineering, Jun 1, 1980

One of the major problems in scene analysis is segmentation of a scene. Various approaches to seg... more One of the major problems in scene analysis is segmentation of a scene. Various approaches to segmentation use information about edges and/or proximity in pixel values as a basis for decomposition of the picture. In this paper the information that can be obtained regarding the material elements present in the scene is used as the basis for segmentation. Comparison of the results with the other known techniques is also given. A set of probabilities of detection based on various information about materials is then derived.

Research paper thumbnail of Mobile Robot Path Planning Using Support Vector Machines

ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 2008

This paper describes an approach that uses support vector machines (SVM) for path planning of mob... more This paper describes an approach that uses support vector machines (SVM) for path planning of mobile robots. The algorithm generates a collision free path for mobile robots running between two tracks or moving towards a known way point. This approach can negotiate tracks and avoid obstacles which may be initially unknown but are later perceived by the robot, and hence is suitable for use with onboard sensors which provides local information. The approach involves dividing the whole terrain into two different classes, classifying any new point obtained from sensors into either of the classes, and generating a track between both the classes as a path of the robot. SVM generates a non-linear class boundary on the principle of maximizing the margin. The boundary generated by this method is smooth, free of obstacles, and safe for a robot to navigate. The paper presents various case studies and simulation results. Future possibility to integrate this technique with other path planning techniques is also discussed.

Research paper thumbnail of <title>Segmentation Using Material Information</title>

Proceedings of SPIE, Sep 4, 1979

One of the major problems in scene analysis is segmentation of a scene. Various approaches to seg... more One of the major problems in scene analysis is segmentation of a scene. Various approaches to segmentation use information about edges and/or proximity in pixel values as a basis for decomposition of the picture. In this paper the information that can be obtained regarding the material elements present in the scene is used as the basis for segmentation. Comparison of the results with the other known techniques is also given. A set of probabilities of detection based on various information about materials is then derived.

Research paper thumbnail of Predictive vision from stereo video: robust object detection for autonomous navigation using the Unscented Kalman Filter on streaming stereo images

Proceedings of SPIE, Jan 17, 2010

Research paper thumbnail of A comparison of two- and three-dimensional imaging

Proceedings of SPIE, Oct 1, 2006

Research paper thumbnail of Vision Guided Intelligent Robot Design And Experiments

Proceedings of SPIE, Feb 19, 1988

ABSTRACT

Research paper thumbnail of Error Specification For Stereo Imaging

Proceedings of SPIE, Aug 21, 1987

ABSTRACT

Research paper thumbnail of Pattern Recognition Guidelines For Three-Dimensional Image Matching

Optical Engineering, Jun 1, 1981

ABSTRACT

Research paper thumbnail of <title>Measuring Scene Content From Aerial Images</title>

Proceedings of SPIE, Sep 4, 1979

ABSTRACT

Research paper thumbnail of <title>Three-dimensional moment invariants for automated target recognition</title>

Proceedings of SPIE, May 24, 1996

ABSTRACT

Research paper thumbnail of <title>Line-following using omnidirectional vision control</title>

Proceedings of SPIE, Aug 6, 1993

Mobile robotics is a broad field, and many mobile systems have been developed as forms of automat... more Mobile robotics is a broad field, and many mobile systems have been developed as forms of automated guided vehicle systems (AGVSs), on/off line teleoperator systems such as remotely piloted vehicles (RPVs), personal mobile robots, and experimental mobile robots. Navigation and motion control are the key elements required for safe, reliable, and accurate operation of the mobile unit. In this paper a technique for mobile robot navigation using a wide angle imaging system to follow a line is used. The sensed position information provides a basis for controlling the motion of mobile robot by comparing the current position to the desired position to determine range and bearing correction signals for the robot motor controllers. These positions are along a predetermined path. Ultrasonic sensors are also used to avoid obstacles.

Research paper thumbnail of <title>Global Local Edge Coincidence Segmentation For Medical Images</title>

Proceedings of SPIE, Dec 26, 1979

ABSTRACT

Research paper thumbnail of Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision

Society of Photo-Optical Instrumentation Engineers (SPIE) eBooks, Oct 1, 2001

Research paper thumbnail of Error Analysis For A Two-Camera Stereo Vision System

Proceedings of SPIE, Mar 26, 1986

ABSTRACT

Research paper thumbnail of Learning for intelligent mobile robots

Proceedings of SPIE, Oct 1, 2003

Research paper thumbnail of Creative learning for intelligent robots

Proceedings of SPIE, Sep 9, 2007

Research paper thumbnail of The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

Proceedings of SPIE, Oct 23, 2005

Research paper thumbnail of Region filling operations with random obstacle avoidance for mobile robots

Journal of Robotic Systems, Apr 1, 1988

Research paper thumbnail of Perception and Navigation Modeling in Humans and Intelligent Systems

Intelligent Engineering Systems through Artificial …, 2005

Research paper thumbnail of <title>Learning the optimal discriminant function through genetic learning algorithm</title>

Proceedings of SPIE, Feb 1, 1992

Learning the optimal discriminant function through genetic learning algorithm. [Proceedings of SP... more Learning the optimal discriminant function through genetic learning algorithm. [Proceedings of SPIE 1607, 614 (1992)]. James Z. Tu, Ernest L. Hall. Abstract. The problem of learning correct decision rules to minimize the probability ...

Research paper thumbnail of Segmentation Using Material Information

Optical Engineering, Jun 1, 1980

One of the major problems in scene analysis is segmentation of a scene. Various approaches to seg... more One of the major problems in scene analysis is segmentation of a scene. Various approaches to segmentation use information about edges and/or proximity in pixel values as a basis for decomposition of the picture. In this paper the information that can be obtained regarding the material elements present in the scene is used as the basis for segmentation. Comparison of the results with the other known techniques is also given. A set of probabilities of detection based on various information about materials is then derived.

Research paper thumbnail of Mobile Robot Path Planning Using Support Vector Machines

ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 2008

This paper describes an approach that uses support vector machines (SVM) for path planning of mob... more This paper describes an approach that uses support vector machines (SVM) for path planning of mobile robots. The algorithm generates a collision free path for mobile robots running between two tracks or moving towards a known way point. This approach can negotiate tracks and avoid obstacles which may be initially unknown but are later perceived by the robot, and hence is suitable for use with onboard sensors which provides local information. The approach involves dividing the whole terrain into two different classes, classifying any new point obtained from sensors into either of the classes, and generating a track between both the classes as a path of the robot. SVM generates a non-linear class boundary on the principle of maximizing the margin. The boundary generated by this method is smooth, free of obstacles, and safe for a robot to navigate. The paper presents various case studies and simulation results. Future possibility to integrate this technique with other path planning techniques is also discussed.

Research paper thumbnail of <title>Segmentation Using Material Information</title>

Proceedings of SPIE, Sep 4, 1979

One of the major problems in scene analysis is segmentation of a scene. Various approaches to seg... more One of the major problems in scene analysis is segmentation of a scene. Various approaches to segmentation use information about edges and/or proximity in pixel values as a basis for decomposition of the picture. In this paper the information that can be obtained regarding the material elements present in the scene is used as the basis for segmentation. Comparison of the results with the other known techniques is also given. A set of probabilities of detection based on various information about materials is then derived.

Research paper thumbnail of Predictive vision from stereo video: robust object detection for autonomous navigation using the Unscented Kalman Filter on streaming stereo images

Proceedings of SPIE, Jan 17, 2010

Research paper thumbnail of A comparison of two- and three-dimensional imaging

Proceedings of SPIE, Oct 1, 2006

Research paper thumbnail of Vision Guided Intelligent Robot Design And Experiments

Proceedings of SPIE, Feb 19, 1988

ABSTRACT

Research paper thumbnail of Error Specification For Stereo Imaging

Proceedings of SPIE, Aug 21, 1987

ABSTRACT

Research paper thumbnail of Pattern Recognition Guidelines For Three-Dimensional Image Matching

Optical Engineering, Jun 1, 1981

ABSTRACT

Research paper thumbnail of <title>Measuring Scene Content From Aerial Images</title>

Proceedings of SPIE, Sep 4, 1979

ABSTRACT

Research paper thumbnail of <title>Three-dimensional moment invariants for automated target recognition</title>

Proceedings of SPIE, May 24, 1996

ABSTRACT

Research paper thumbnail of <title>Line-following using omnidirectional vision control</title>

Proceedings of SPIE, Aug 6, 1993

Mobile robotics is a broad field, and many mobile systems have been developed as forms of automat... more Mobile robotics is a broad field, and many mobile systems have been developed as forms of automated guided vehicle systems (AGVSs), on/off line teleoperator systems such as remotely piloted vehicles (RPVs), personal mobile robots, and experimental mobile robots. Navigation and motion control are the key elements required for safe, reliable, and accurate operation of the mobile unit. In this paper a technique for mobile robot navigation using a wide angle imaging system to follow a line is used. The sensed position information provides a basis for controlling the motion of mobile robot by comparing the current position to the desired position to determine range and bearing correction signals for the robot motor controllers. These positions are along a predetermined path. Ultrasonic sensors are also used to avoid obstacles.

Research paper thumbnail of <title>Global Local Edge Coincidence Segmentation For Medical Images</title>

Proceedings of SPIE, Dec 26, 1979

ABSTRACT

Research paper thumbnail of Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision

Society of Photo-Optical Instrumentation Engineers (SPIE) eBooks, Oct 1, 2001

Research paper thumbnail of Error Analysis For A Two-Camera Stereo Vision System

Proceedings of SPIE, Mar 26, 1986

ABSTRACT

Research paper thumbnail of Learning for intelligent mobile robots

Proceedings of SPIE, Oct 1, 2003

Research paper thumbnail of Creative learning for intelligent robots

Proceedings of SPIE, Sep 9, 2007

Research paper thumbnail of The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

Proceedings of SPIE, Oct 23, 2005

Research paper thumbnail of Region filling operations with random obstacle avoidance for mobile robots

Journal of Robotic Systems, Apr 1, 1988