The ability to recognize edges of an object fast and accurately is a fundamental goal in computer vision and image processing. The facility is important in automatic manufacturing environment in industry. This paper d...
详细信息
The ability to recognize edges of an object fast and accurately is a fundamental goal in computer vision and image processing. The facility is important in automatic manufacturing environment in industry. This paper defines and investigates an efficient method of edge extraction of image using directional tracing algorithm. Based on the approach of linear feature extraction presented by R. Nevatia and K.R. Babu (1980), our algorithm is developed for the general situation of edge extraction. The technique employs the basic and intuitive principle that an edge pixel should possess local maximal gradient but no more domain information or knowledge is required. An effective and robust tracing strategy is proposed. Our algorithm has been tested on different kinds of images, and the results are satisfactory.
A method for automatic library entry and update of three-dimensional representations of 3D rigid, planar-faced objects is presented in this paper. Geometric and structural information is obtained from multiple monocul...
详细信息
A method for automatic library entry and update of three-dimensional representations of 3D rigid, planar-faced objects is presented in this paper. Geometric and structural information is obtained from multiple monocular 2D image frames and placed in relational tables. Point correspondences are found from the relational tables to reconstruct the 3D scene object. A number of global descriptors, obtained from the reconstructed object, are used as indexes to the model library to select similarly structured models for matching. A probabilistic procedure using the indexes determines whether the scene object is already represented by a library model. If the model is represented, a technique based on the hypothesize-and-test paradigm compares the scene object to the library model to update the model representation with any new geometric and structural information. If the model is not present in the library, the new model representation is added to the model library.
Position and force controls are important and fundamental tasks of robot manipulators. In order to control position of the robot which simultaneously applies force to the environment, the friction between the robot an...
详细信息
Position and force controls are important and fundamental tasks of robot manipulators. In order to control position of the robot which simultaneously applies force to the environment, the friction between the robot and the environment has to be compensated. However, the friction force varies according to the applied force to the environment. Therefore, it is difficult to compensate the friction effectively with conventional controllers if we do not know the friction coefficient. Many researches have been done on fuzzy neural control, the combination of neural networks and fuzzy control, in order to make up for each other's weak points. The fuzzy neural control is expected to perform more sophisticated control than conventional control in an unknown environment. In this paper, we propose a new friction compensation method using the fuzzy neural network which contains a specialized neuron for friction compensation and a switch-learning. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the proposed method.
This paper reports on the current status of The Multimodal User Supervised Interface and Intelligent control (MUSIIC) project, which is working towards the development of an intelligent assistive telemanipulative syst...
详细信息
ISBN:
(纸本)0819423033
This paper reports on the current status of The Multimodal User Supervised Interface and Intelligent control (MUSIIC) project, which is working towards the development of an intelligent assistive telemanipulative system for people with motor disabilities. Our MUSIIC strategy overcomes the limitations of previous approaches by integrating a multimodal RUI (Robot User Interface) and a semi-autonomous reactive planner that will allow users with severe motor disabilities to manipulate objects in an unstructured domain. The multimodal user interface is a speech and deictic (pointing) gesture based control that guides the operation of a semi-autonomous planner controlling the assistive telerobot. MUSIIC uses a vision system to determine the three-dimensional shape, pose and color of objects and surfaces which are in the environment, and as well as an object-oriented knowledge base and planning system which superimposes information about common objects in the three-dimensional world. This approach allows the users to identify objects and tasks via a multimodal user interface which interprets their deictic gestures and a restricted natural language like speech input. The multimodal interface eliminates the need for general purpose object recognition by binding the users speech and gesture input to a locus in the domain of interest. The underlying knowledge-driven planner, combines information obtained from the user, the stereo vision mechanism as well as the knowledge bases to adapt previously learned plans to perform new tasks and also to manipulate newly introduced objects into the workspace. Therefore, what we have is a flexible and intelligent telemanipulative system that functions as an assistive robot for people with motor disabilities.
This paper presents a novel framework for structure recovery utilizing a scaled orthographic view and perspective views simultaneously. Perspective views lead to precise recovery based on the triangulation principle; ...
详细信息
This paper presents a novel framework for structure recovery utilizing a scaled orthographic view and perspective views simultaneously. Perspective views lead to precise recovery based on the triangulation principle; however, many parameters such as camera positions, camera poses and focal length, must be measured beforehand. Thus, a scaled orthographic view is introduced as a subsidiary system to achieve them automatically. Camera parameters are calculated implicitly owing to the scaled orthographic properties, and then the structure recovery is done by the orthogonality of camera coordinate systems and the triangulation principle. The experimental results provide sufficient accuracy of structure recovery.
Previous work in vision-based mobile robotics have lacked models of the route which can be utilized for (1) localization, (2) steering angle determination, and (3) obstacle detection, simultaneously. In this paper, th...
详细信息
Previous work in vision-based mobile robotics have lacked models of the route which can be utilized for (1) localization, (2) steering angle determination, and (3) obstacle detection, simultaneously. In this paper, the authors propose a new visual representation of the route, the "view-sequenced route representation (VSRR)." The VSRR is a non-metrical model of the route, which contains a sequence of front view images along a route memorized in the recording run. In the autonomous run, the three types of recognition described above are achieved in real-time by matching between the current view image and the memorized view sequence using a correlation technique. the authors also developed an easy procedure for acquiring VSRRs, and a quick control procedure using VSRRs. VSRRs are especially useful for representing routes in corridors. Results of autonomous navigation using a two-wheeled robot in a real corridor are also presented.
We introduce spherical triangular B-splines for closed shape representation, and discuss the shape reconstruction using our new model "winged B-snakes", which are deformable surfaces coupled with active edge...
详细信息
We introduce spherical triangular B-splines for closed shape representation, and discuss the shape reconstruction using our new model "winged B-snakes", which are deformable surfaces coupled with active edges and junctions. We show the results of using the spherical winged B-snakes for simultaneous surface reconstruction and feature detection from range images or scattered 3D data.
This paper describes a method for calibrating a stereo-camera using its pure translational motion. The left and right cameras translate in several directions simultaneously. For each camera and each translation, an im...
详细信息
ISBN:
(纸本)0780332598
This paper describes a method for calibrating a stereo-camera using its pure translational motion. The left and right cameras translate in several directions simultaneously. For each camera and each translation, an image sequence is obtained, feature points being extracted and tracked. An epipole is estimated for each image sequence and calibration is carried out using the relation between known translations and estimated epipoles. After finding calibration and rotation matrices of each camera, 3D reconstruction of feature points is performed. Reconstructed points are used to find translational relation between both cameras. The method was tested with real image data, and experimental results show that it is applicable in practice.
A main concern in the initial phases of the development of a system to be built is capturing the system requirements and expressing them as an adequate model, either formal or informal. In subsequent phases of the dev...
详细信息
A main concern in the initial phases of the development of a system to be built is capturing the system requirements and expressing them as an adequate model, either formal or informal. In subsequent phases of the development of the system this model is used as reference for transformation steps. In this paper we describe a reasonably successful experimental strategy for the implementation of real-time systems, starting from a formal specification, resulting in an Ada 95 implementation of the system and we evaluate the approach based upon practical experiences.
The Ada 95 programming language is designed for programming large systems and for concurrent programming. However, it does not provide facilities in the areas of processor allocation to tasks while its support for fle...
详细信息
The Ada 95 programming language is designed for programming large systems and for concurrent programming. However, it does not provide facilities in the areas of processor allocation to tasks while its support for flexible task scheduling is limited. In this paper we describe some experiments, resulting in Gnass, in which we extend Ada facilities for real-time multiprocessor applications. As environment we took the Gnat implementation on Solaris (the GNU NYU Ada Translator, Gnat), this primarily because of its availability. Two features offered by Gnass are discussed in this paper, namely control over processor allocation, and scheduling based on timing requirements.
暂无评论