In the field of machine vision, camera calibration refers to the experimental determination of a set of parameters which describe the image formation process for a given analytical model of the machine vision system. ...
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ISBN:
(纸本)9781424435098
In the field of machine vision, camera calibration refers to the experimental determination of a set of parameters which describe the image formation process for a given analytical model of the machine vision system. An accurate, reliable calibration procedure is essential for most industrial machine vision applications including mechanical metrology, robot assembly, reverse engineering, stereo vision etc. One of the most systematic calibration procedures for 3D machine vision applications was proposed by Heikkila in which a comprehensive set of camera parameters is automatically evaluated by observing a calibration target consisting of two perpendicular planes, each with 256 circular control points. Other similar techniques employ a checkerboard pattern as a target and use the vertices of the squares as control points. While these techniques are sound from a theoretical point of view, they do not adequately speak to the question of measurement accuracy. The objective of this work is to gain and understanding of the problems associated with Geometric Camera Calibration through the application of Design of Experiments. A response surface methodology, namely a CCD Design, is carried to analyze the effects. This paper also highlights the issue of calibration accuracy by addressing the following fundamental question: Assuming a certain tolerance or uncertainty in the calibration target, what is the expected error with respect to the measured camera parameters and what is the impact on the final 3D machine vision application?
Many image processing applications such as noise suppression and contrast enhancement are designed to be embedded in multimedia devices such as digital cameras. In order to test the accuracy and robustness of these al...
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This paper discusses the semiconductor integrated circuit device called a vision chip, an image sensor in which each pixel has a processing element. Although similar devices have already been proposed, the major featu...
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This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume genera...
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ISBN:
(纸本)9780769531533
This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume generation, cost volume merging, and disparity selection. The main focus of this paper is on the second step and a new cost volume merging method is proposed, which combines the adaptive weight and the Parzen window approaches. The proposed method can deal with noise and visibility problems effectively, even with poorly generated cost volumes as input. The experimental results demonstrate the validity of our presented approach.
Latterly, we have seen an immense increase in the amount of research, development and investment dedicated to the field of Autonomous Vehicle Technology or in common terms - Self-Driving Vehicles. While modern autonom...
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A proposed delay line combination (DLC) receivers have the unique ability to achieve symbol timing synchronization within a single symbol interval [1]. Although DLC receivers do not require channel estimation, the set...
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This paper reports the design and application of a novel high speed computervision system for real-time analysis of the wing kinematics of tethered flying fruit flies (D. melanogaster). The system uses a camera with ...
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ISBN:
(纸本)9781424400393
This paper reports the design and application of a novel high speed computervision system for real-time analysis of the wing kinematics of tethered flying fruit flies (D. melanogaster). The system uses a camera with dynamic regions of interest (ROI) to increase temporal resolution from localized sampling, without loss of spatial resolution. An extended Kalman filter is employed to fit an a priori kinematic model to past wing position measurements, allowing the position of the next ROI to be predicted and providing a real-time readout of kinematic data. Using this approach, we sampled the wing position at 6250Hz with a precision of 1 degrees, using a ROI of approximately 3600 pixels. This is more than four times faster than other computervision based tracking system to date. Beyond the study of insect flight control, this paper demonstrates a novel approach to track complex and fast moving structures in real time applications, a challenge often faced in micro and nano technologies.
In this work the tracking control problem is solved using the approximated nonlinear predictive control and it is combined with artificial potential field for obstacles avoidance capabilities. The potential field appr...
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Aimed at the problems that have appeared in the component library (CL) development at present, this paper introduces a distributed CL system based on cloud computing technology. The architecture and retrieval model of...
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In this paper, it is recalled that computervision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-stewart parallel robot. Indeed, contrary to the usual methodology where the robo...
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ISBN:
(纸本)3901249850
In this paper, it is recalled that computervision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-stewart parallel robot. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law which will be implemented, we take, since the early modeling stage, into account that vision will be used for control. Hence, kinematic modeling and projective geometry are fused into a control-devoted vision-based kinematic model through the observation of its legs. Thus, this novel vision-based kinematic modeling is extended to two other parallel manipulator families, namely Orthoglide and I4L. Inspired by the geometry of lines, this kind of model unifies and simplifies both identification and control. Indeed, it has a reduced parameter set and yields a linear solution to calibration. Using the same models, visual servoing schemes are presented, where the directions of the non-rigidly linked legs are servoed, rather than the end-e® ector pose.
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