this paper presents the results of an experimental study regarding the application of recent stereo analysis theories in the frequency domain, particularly the phase congruency and monogenic filtering methods. the ini...
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ISBN:
(纸本)9783642118395
this paper presents the results of an experimental study regarding the application of recent stereo analysis theories in the frequency domain, particularly the phase congruency and monogenic filtering methods. the initial approach to the stereo matching problem employed feature based correlation methods. However, the requirement for more dense depth-map output led us to the development of disparity map estimation methods, minimizing a matching cost function between image regions or pixels. the cost function consists of a newly proposed similarity measure function, based on the geometrical properties of the monogenic signal. Our goal was to examine the performance of these methods in a stereo matching problem setting, on photos of complicated scenes. Two objects were used for this purpose: (i) a scene from an ancient Greek temple of Acropolis and (ii) the outside scene of the gate of an ancient theatre. Due to the complex structure of the photographed objects, classic techniques used for stereo matching give poor results. On the contrary, the three-dimensional models and disparity map of the scene computed when applying the proposed method, are much more detailed and consistent.
this paper presents an embedded system for autonomous control of irobot Create that consists of real time target tracking and robot navigation. Tracking and navigation algorithms were implemented using the TI DM6437 E...
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this paper presents an embedded system for autonomous control of irobot Create that consists of real time target tracking and robot navigation. Tracking and navigation algorithms were implemented using the TI DM6437 EVM board. the robot's performance demonstrates that a visual tracking and navigation can be efficiently and robustly implemented, and TI DSP is suitable for running both algorithms simultaneously due to its low power consumption and high-speed performance. the proposed tools have a steep learning curve, and they can be used as a platform for the further development.
In this paper, we present an approach for recognizing and tracking a moving color object which break into the robot's camera vision in the mobile robot. In order to obtain input feature for moving-object recogniti...
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ISBN:
(纸本)9781424469826;9788988678183
In this paper, we present an approach for recognizing and tracking a moving color object which break into the robot's camera vision in the mobile robot. In order to obtain input feature for moving-object recognition, we perform image processing of the video sequence by background substraction method. Given the images of video sequence provided by a fixed camera on mobile robot, disparity images in different time are integrated into a tracking framework in order to find the HSV space based color features of the moving object. Based on the color object's moving and background substraction method, an color classifier based on the HS thresholds is trained to detect moving object. We show experimentally that the moving-object recognition performance can be improved significantly by using information about object's edge as an additional feature. through the recognition, we can find the center of the moving object and control the mobile robot's angle and rate to realize the vision-tracking of moving object. Our system aims at applications in the field of robot intelligence,where it is important to do run-on recognition in real-time, to allow for robot sel-learning and not to rely on appointed features.
At present,Glue-coating machines have some shortages,such as unintelligence,complexity of setting glue path for new *** this paper,real-time image capture was achieved by using digital camera technology and image proc...
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At present,Glue-coating machines have some shortages,such as unintelligence,complexity of setting glue path for new *** this paper,real-time image capture was achieved by using digital camera technology and image processing *** captured image is converted into a character *** model is determined through comparing withthe standard library and the *** image of workpiece was vectored through frame extracting and *** NC(Numerical Control) code generation technology,the NC code is automatically generated for sprinkler nozzle walking *** Appling visual servo and embedding the vision system into feedback loop of the robot,the system achieves high-precision robot *** extracting the glue line curve from image,thinning glue curve by morphological method,and extracting the frame information,the closure and quality of the glue curve can be *** of test show that the effect is satisfactory and the method is effective.
Aiming at the requirement of power line inspection robot, this paper develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the im...
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ISBN:
(纸本)9781424435197
Aiming at the requirement of power line inspection robot, this paper develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the image features extraction. through the extended UART interfaces, this system can communicate withthe control unit of Power Line Inspection robot. Corner coordinates obtained from the algorithm of this system can be used for extraction and matching of the image feature points, motion estimation, three-dimensional reconstruction, etc. Compared to the traditional vision system based on image capturing cards and PC platforms, it has the advantages of small size, favourable real-time properties, low power consumption, etc. Experiment results indicate that the precision and speed of corner extraction are both better than those of the traditional PC platforms.
In this work we describe a novel setup for implementation and development of stereo vision attention models in a realistic embodied setting. We introduce a stereo visionrobot head, called POPEYE, that provides degree...
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ISBN:
(纸本)9789898111692
In this work we describe a novel setup for implementation and development of stereo vision attention models in a realistic embodied setting. We introduce a stereo visionrobot head, called POPEYE, that provides degrees of freedom comparable to a human head. We describe the geometry of the robot as well as the characteristics that make it a good candidate for studying models of visual attention. Attentional robot control is implemented with JAMF, a graphical modeling framework which allows to easily implement current state-of-the-art saliency models. We give a brief overview over JAMF and show implementations of four exemplary attention models that can control the robot head.
the complexity of advanced robotvision systems calls for an architectural framework with great flexibility with regards to sensory, hardware, processing, and communications requirements. We are currently developing a...
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ISBN:
(纸本)9789898111692
the complexity of advanced robotvision systems calls for an architectural framework with great flexibility with regards to sensory, hardware, processing, and communications requirements. We are currently developing a system that uses time-of-flight and a regular video stream for mobile robotvision applications. We present an architectural framework based on YARP, and evaluate its efficiency. Overall, we have found YARP to be easy to use, and our experiments show that the overhead is a reasonable tradeoff for the convenience.
this paper concerns 3D object recognition from vision. In our robotics context an object must be recognized and localized in order to be grasped by a mobile robot equipped with a manipulator arm: several cameras are m...
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ISBN:
(纸本)9789898111692
this paper concerns 3D object recognition from vision. In our robotics context an object must be recognized and localized in order to be grasped by a mobile robot equipped with a manipulator arm: several cameras are mounted on this robot, on a static mast or on the wrist of the arm. the use of such a robot for object recognition, makes possible active strategies for object recognition. this system must be able to place the sensor in different positions around the object in order to learn discriminant features on every object to be recognized in a first step, and then to recognize these objects before a grasping task. Our method exploits the Mutual Information to actively acquire visual data until the recognition, like it was proposed in works presented in (Denzler and Brown, 2000) and (Denzler et al., 2001): color histogram, shape context, shape signature, Harris or Sift points descriptors are learnt from different viewpoint around every object in order to make the system more robust and efficient.
In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents' dynamic status and their environment with obstacles ...
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ISBN:
(纸本)9783642036668
In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents' dynamic status and their environment with obstacles to perform given tasks. the global vision system provides feedback to main controller computer and mobile robots are directed towards to their tasks with avoiding obstacles and without any collision. Different kinds of scenario are prepared to simulate manipulating tasks and non-collision behavior with our framework. Experiment results with Lego Mindstorms NXT shows that our framework can be used where a multi robot system is needed with minimum resources.
the virtual reality is a powerful tool to simulate the behavior of the physical systems. the visual system of a robot and its interplay withthe 3D environment can be modeled and simulated through the geometrical rela...
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ISBN:
(纸本)9789898111692
the virtual reality is a powerful tool to simulate the behavior of the physical systems. the visual system of a robot and its interplay withthe 3D environment can be modeled and simulated through the geometrical relationships between the virtual stereo cameras and the virtual 3D world. the novelty of our approach is related to the use of the virtual reality as a tool to simulate the behavior of active vision systems. In the standard way, the virtual reality is used for the perceptual rendering of the visual information exploitable by a human user. In the proposed approach, a virtual world is rendered to simulate the actual projections on the cameras of a robotic system, thus the mechanisms of the active vision are quantitatively validated by using the available ground truth data.
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