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3D vision in a virtual reality robotics environment

3D vision in a virtual reality robotics environment

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Schutz, C Natonek, E Baur, C Hugli, H Univ. of Neuchatel (Switzerland) Swiss Federal Institute of Technology (Switzerland)

ISBN: (纸本)0819423033

Virtual reality robotics (VRR) needs sensing feedback from the real environment. To show how advanced 3D vision provides new perspectives to fulfill these needs, this paper presents an architecture and system that integrates hybrid 3D vision and VRR and reports about experiments and results. The first section discusses the advantages of virtual reality in robotics, the potential of a 3D vision system in VRR and the contribution of a knowledge database, robust control and the combination of intensity and range imaging to build such a system. Section two presents the different modules of a hybrid 3D vision architecture based on hypothesis generation and verification. Section three addresses the problem of the recognition of complex, free-form 3D objects and shows how and why the newer approaches based on geometric matching solve the problem. This free-form matching can be efficiently integrated in a VRR system as a hypothesis generation knowledge-based 3D vision system. In the fourth part, we introduce the hypothesis verification based on intensity images which checks object pose and texture. Finally, we show how this system has been implemented and operates in a practical VRR environment used for an assembly task.

关键词： virtual reality virtual reality robotics 3D vision knowledge-based vision range imaging image correlation

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Shape recognition system for automatic disassembly of TV-sets

Shape recognition system for automatic disassembly of TV-set...

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IEEE international conference on Image Processing

作者： T.M. Jorgensen A.W. Andersen S.S. Christensen Riso National Laboratory Roskilde Denmark

A shape recognition system used to navigate a disassembly robot is being described. The task that the robotics system has to solve is that of dismantling TV sets. The image processing module operates on 2D and 3D data... 详细信息

关键词： TV Robot sensing systems Shape control Electrons Sensor phenomena and characterization robotics and automation Image processing Neural networks Sensor systems Laboratories

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Dynamics of a flexible deployable robotic manipulator

Dynamics of a flexible deployable robotic manipulator

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3rd international conference on Dynamics and control of Structures in Space (SPACE 96)

作者： Kirk, CL Romero, I CRANFIELD UNIV DEPT AEROSP SCICRANFIELD MK43 0ALBEDSENGLAND

ISBN: (纸本)185312415X

This paper presents a reduced order formulation for the transient response of a deployable rotating manipulator system (DMS). Component flexibility in the fixed and sliding links is approximated by simple cubic deflection shapes and the resulting equations of motion have two degrees-of-freedom and time varying inertial and exciting torque characteristics. Numerical solution of the equations of motion is achieved by assuming constant acceleration/deceleration for the angular and extensional motion with the switch point occurring simultaneously at the maneuver mid-point. This requires the use of the computed torque at the shoulder joint of the DMS in order to maintain constant acceleration/deceleration. The study assumes that the shoulder joint is inertially fixed in space and hence is not coupled to motion of the support structure. In this way a simple set of equations of motion is derived enabling the basic dynamic behaviour of the system to be understood. It is shown that a combination of axial and flexural motion of the DMS produce a form of Coriolis type damping.

关键词： robotics

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Augmented reality to enhance an active telepresence system

Augmented reality to enhance an active telepresence system

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Wheeler, A Pretlove, J Parker, GA Univ. of Surrey (United Kingdom)

ISBN: (纸本)0819423033

Tasks carried out remotely via a telerobotic system are typically complex, occur in hazardous environments and require fine control of the robot's movements. Telepresence systems provide the teleoperator with a feeling of being physically present at the remote site. Stereoscopic video has been successfully applied to telepresence vision systems to increase the operator's perception of depth in the remote scene and this sense of presence can be further enhanced using computer generated stereo graphics to augment the visual information presented to the operator. The Mechatronic Systems and robotics Research Group have over seven years developed a number of high performance active stereo vision systems culminating in the latest, a four degree-of-freedom stereohead. This carries two miniature colour cameras and is controlled in real time by the motion of the operator's head, who views the stereoscopic video images on an immersive head mounted display or stereo monitor. The stereohead is mounted on a mobile robot, the movement of which is controlled by a joystick interface. This paper describes the Active Telepresence System and the development of a prototype Augmented Reality (AR) application to enhance the operator's sense of presence at the remote site. The initial enhancements are a virtual map and compass to aid navigation in degraded visual conditions and a virtual cursor that provides a means for the operator to interact with the remote environment. The results of preliminary experiments using the initial enhancements are presented.

关键词： augmented reality telepresence virtual reality mobile robotics

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Visual depth perception based on optical blur

Visual depth perception based on optical blur

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IEEE international conference on Image Processing

作者： J. Honig B. Heit J. Bremont French-German Institute for Automation and Robotics-IAR CRAN-CNRS URA 821 University Henri Poincaré Nancy I Vandoeuvre-les-Nancy France

The depth perception we present in this paper is based on monocular computer vision. The method exploits the physical effect that the imaging properties of an optical system depend upon the acquisition parameters and the object distance. Our approach is working along the edges. The basic principle is to compare the blur in two defocused images of the same scene taken with different apertures (depth from defocus). To increase speed and precision our algorithm is working only at the exact position of ramp edges, which are determined by a biological model of the visual cortex.

关键词： Biomedical optical imaging Light sources Focusing Computer vision Optical sensors Optical filters robotics and automation Optical imaging Layout Apertures

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A partition method for solving block pentadiagonal linear system on intel hypercube iPSC/860 3rd

A partition method for solving block pentadiagonal linear sy...

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3rd international Austrian Center for Parallel Computation conference with Special Emphasis on Parallel Databases and Parallel I/O, 1996

作者： Halada, Ladislav Lucká, Mária Dep. of Mathematics Slovak Technical University Nán.slobody Bratislava812 31 Slovakia Institute for Control Theory and Robotics Slovak Academy of Sciences Dúbravsks cesta 9 Bratislava842 37 Slovakia

ISBN: (纸本)3540616950

We present a parallel partition algorithm for the solution of block pentadiagonal linear systems suitable for computation on computers with distributed memory. The method belongs to the direct methods and is based on the partition method derived in [1] for non-block banded matrices. The parallelization is achieved by dividing of the original block matrix into large blocks that can be processed almost independently. The time measurement results achieved by implementation of this method in the message passing Fortran on Intel hypercube iPSC/860 have shown a dependence of the effectivity of the implementation on the size of the large blocks. © 9 Springer-Verlag Berlin Heidelberg 1996.

关键词： Linear systems

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Noise suppression based on the fractal dimension estimates

Noise suppression based on the fractal dimension estimates

引用

IEEE international conference on Image Processing

作者： S.S. Nikiel Department of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland

The paper draws on the problem of noise reduction in binary images. Noise suppression plays very important role in the automated document analysis, since corrupted pictures may drastically reduce efficiency of the recognition process. The fractal based technique is one of the most recent approaches in computer vision. The fractal dimension estimates are incorporated in a highly efficient filtering scheme. The method is presented along with the images illustrating the most promising results.

关键词： Fractals Filtering Pixel Noise reduction Text analysis robotics and automation Software engineering World Wide Web Computer vision Image recognition

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Planning spiral motion of nonholonomic space robots

Planning spiral motion of nonholonomic space robots

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IEEE international conference on robotics and automation (ICRA)

作者： T. Suzuki Y. Nakamura Department of Mechanic-Informatics University of Tokyo Bunkyo Tokyo Japan

A free-flying space robot with a 6-DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates (3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We call the approximated trajectory the "spiral motion". A computational scheme for planning the spiral motion is presented, and is followed by computer simulation that illustrates the effectiveness of the scheme.

关键词： Motion planning Spirals Orbital robotics Satellites Robot kinematics Manipulators Motion control Wheels Mobile robots Computer simulation

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Force interactive virtual reality using local joint error control

Force interactive virtual reality using local joint error co...

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Luecke, GR Edwards, JC Miller, B Iowa State Univ. (United States)

ISBN: (纸本)0819423033

Robot manipulators are the natural choice for transmitting computer-generated dynamic forces from a virtual environment to a human user immersed in that environment. control schemes for this type of interactive interface are extensions of the techniques used in teleoperation systems. with the forces applied between the master and the human generated by the dynamic model rather than measured from sensors on the slave. Stability problems arise when the robot inertia and dynamics are coupled to the complex and time-varying human dynamic characteristics. In this work, a new local feedback error control technique is applied to an interface robot to allow motion only in free directions in the virtual space. This virtual force interface does not require the use of an end effector force transducer. As in all local control schemes, the dynamic characteristics and cross-coupling effects of the manipulator are neglected, so that actual motion may deviate slightly from the desired trajectory during high speed operation. Experimental results are presented showing the use of this haptic device moving within a cubic space representing a fish tank. Motion of the hand controls the motion of virtual fish within the tank, and as the fish contact the walls of the virtual tank, the human feels the hard surface of the tank walls. Stability for this scheme is based on the stability of position error feedback for the manipulator.

关键词： haptic feedback robotics virtual reality human interaction

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Development of a scene recognition system with imprecise descriptions

Development of a scene recognition system with imprecise des...

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IEEE international conference on Image Processing

作者： J. Lemaire O. Le Moigne Département dÉtudes et de Recherches en Automatique Centre d''Etudes et de Recherches de Toulouse Toulouse France

This paper presents the development of a scene interpretation system with imprecise descriptions in a 3D robotics context. The problem of "scene recognition" is presented as the matching of images with a priori descriptions given in a high level language. The mission consists in the identification of the position of an object in a scene with a vision system situated at the end of a manipulator. The position of the object is given by the human operator in a pseudo-natural language and the environment is only known through the fuzzy hints of the mission description. The organization of the system and the particular aspects of the scene recognition method are presented. We conclude with the first results of the complete system.

关键词： Layout Image recognition High level languages Machine vision Humans Uncertainty Elbow robotics and automation Manipulators Robots

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