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computer and vision Aided Mapping in Farmer's Market and Visually Aided Shopping Strategy for Visually Impaired Individuals 4

Computer and Vision Aided Mapping in Farmer's Market and Vis...

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4th International conference on computer, Control and robotics (ICCCR)

作者： Liu, Mei Chen, Yunhua Chen, Hanlin Liu, Xinyue Fang, Yuan Chen, Jinbo Shanghai Univ Sch Mechatron Engn & Automat Shanghai Key Lab Intelligent Mfg & Robot Shanghai 200444 Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Existing guide equipment and methods are not fully suitable for the visually impaired (VI) shop in the crowded and narrow farmers' market. Aim assist VI to purchase food more conveniently, this paper proposes computer and vision aided mapping (CVAM) algorithm. It utilizes threshold function to quickly convert the CAD layout of the farmer's market into a navigation-specific grid map. Furthermore, CVAM utilizes the A-star method to traverse each stall, and employs a classification camera based deep learning to identify and record the products on stall. Additionally, this paper proposes a visually aided shopping (VAS) algorithm that allows robot minor seller to select and weigh products. It employs the KCF method to track the seller's hand movements and uses a classification camera to ensure that the products selected by the seller are consistent with the VI's expectations. Subsequently, it uses BP neural network to read the electronic scale indication and feed it back to VI. the experiments conducted in this study confirmed that the guide robot designed in this study is not only capable of navigating the farmer's market for VI, but also greatly improves mapping efficiency compared with general mapping method. Particularly, VAS successfully supervises the entire process of seller selecting and weighing products, preventing them from deliberately deceiving VI.

关键词： efficient mapping visually aided product classification deep learning supervise seller

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the Basic Components of the computer Intelligence for Adept Six-300 robot 4

The Basic Components of the Computer Intelligence for Adept ...

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4th International conference on Systems and Informatics (ICSAI)

作者： Szkodny, Tadeusz Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781538611074

the program Tobject planning the movement of the Adept Six-300 robot is presented in this work. Location of the manipulation object, observed by the two cameras Edimax IC-7100P, is calculated by this program. the program is one of the most important components of the computer intelligence of this robot. the method of determining the geometric parameters occurring in the equations of the kinematics of the gripper and manipulation object was presented. the program Tobject geometric calibrates of cameras using an algorithm that does not rely on the calculation of the projection matrix or the fundamental matrix. therefore, these algorithms are faster and more accurate than the algorithms that use the projection matrix and the fundamental matrix. On the basis images of the manipulation object, obtained by these two cameras, the program Tobject calculates the trajectory of the gripper movement to this object. In discretization point of the trajectory this program calculates coordinates the joint variables of the manipulator. In the calculations, multiple solutions of inverse kinematics are taken into account, including solutions in singular configurations. Among these the multiple solutions is a chosen solution minimizing the square indicator of quality. the program Tobject is installed in the server that cooperates with robot controller and cameras, by Ethernet net.

关键词： Intelligent robots robot vision systems robots

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Edge-Enabled Autonomous Navigation and computer vision as a Service: A Study on Mobile robot's Onboard Energy Consumption and Computing Requirements 4th

Edge-Enabled Autonomous Navigation and Computer Vision as a ...

引用

4th Iberian robotics conference (robot) - Advances in robotics

作者： Lambrecht, Jens Funk, Eugen Tech Univ Berlin Chair Ind Grade Networks & Clouds Berlin Germany Gestalt Robot GmbH Columbiadamm 31 D-10965 Berlin Germany

ISBN: (纸本)9783030361501;9783030361495

Autonomous mobile transport systems are a crucial part of flexible factory logistics enabling a highly-adaptable industrial production organization. Edge computing bares the potential to support commissioning and operation of these mobile robots through offloading computation in a very flexible and scalable manner. Among these benefits, less onboard computation means also less energy consumption and longer operation durations. In order to evaluate the specific effects of offloading computing following the Software as a Service principle, we consider different software service distribution scenarios in terms of real-time critical navigation as well as additional computer vision functions. We present an empirically study using and assessing 4G radio networks in order to realize distributed control scenarios within industrial environments. the software services are offloaded to the edge following a modern microservice approach. Our results show that onboard computing can be covered by a low-cost single-board computer and energy consumption can be reduced by 4.9% to 18.4% through offloading computation depending on the payload and average velocity. Regarding to additional computer vision algorithms, the energy savings are even higher.

关键词： Distributed control Autonomous mobile robots Cloud robotics Edge computing Wireless communication networks

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Pose Determination of 3D Object Based on Four Straight Lines

Pose Determination of 3D Object Based on Four Straight Lines

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4th International conference on Natural Computation (ICNC 2008)

作者： Qin, Lijuan Hu, Yulan Wei, Yingzi Zhou, Yue Wang, Hong Shenyang Ligong Univ Sch Informat Sci & Engn Shenyang Peoples R China

ISBN: (纸本)9780769533049

Pose determination of 3D object with respect to a camera is an important problem in computer vision. Straight line is one feature which exists widely in natural environments. In this paper, a new pose determination method from four straight line correspondences is presented. this algorithm is simple to solve and has good real-time characteristic. Furthermore, unique solution for object pose can be obtained. At last, simulation results show this method is reasonable and has good real-time characteristic.

关键词： Cameras computer vision Iterative methods Closed-form solution Polynomials robot vision systems robot kinematics Calibration Information science Computational modeling

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A Review of Machine vision Applications in Aerospace Manufacturing Quality Inspection 4

A Review of Machine Vision Applications in Aerospace Manufac...

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4th International conference on computer, Control and robotics (ICCCR)

作者： Deng, Li Liu, Gang Shanghai Univ Engn Sci Sch Mech & Automot Engn Shanghai Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Machine vision is a technology that uses image processing and analysis techniques to acquire and understand image information, enabling the recognition, measurement, and detection of objects. Machine vision is widely used in aerospace manufacturing for automated production, quality inspection, and robot guidance. It can improve the efficiency and quality of aerospace manufacturing, reduce labor costs and risks, promote innovation and optimization, adapt to various inspection needs, and realize intelligent, automated, and digital manufacturing processes. this paper introduces the types of vision technologies, overviews the typical applications of machine vision for quality inspection in aerospace manufacturing, (including component surface inspection, drilling quality inspection, assembly quality inspection, and gluing quality inspection), analyzes the advantages, challenges, and development trends of machine vision for quality inspection in aerospace manufacturing, and looks forward to future research directions to support further research and application.

关键词： Machine vision Aerospace manufacturing Component surface inspection Drilling quality inspection Assembly quality inspection Gluing quality inspection

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Smart mobile robot system for rubbish collection 4

Smart mobile robot system for rubbish collection

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4th Asia Pacific conference on Manufacturing Systems / 3rd International Manufacturing Engineering conference (APCOMS-iMEC)

作者： Ali, Mohammed A. H. Siang, Tan Sien Univ Malaysia Pahang Fac Mfg Engn Pekan 26600 Malaysia

this paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. the objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. this paper explained about the types of image processing, detection and recognition methods and image filters. this project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. this project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

关键词： Mobile robots

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An Interaction Strategy for Safe Human Co-Working with Industrial Collaborative robots 4

An Interaction Strategy for Safe Human Co-Working with Indus...

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4th IEEE International conference on Industrial Cyber-Physical Systems (ICPS)

作者： Garcia-Esteban, Juan Alberto Piardi, Luis Leitao, Paulo Curto, Belen Moreno, Vidal Univ Salamanca Dept Automat & Comp Sci Salamanca Spain Polytech Inst Braganca Res Ctr Digitalizat & Intelligent Robot CeDRI Campus Santa Apolonia P-5300253 Braganca Portugal

ISBN: (纸本)9781728162072

Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and robots. To achieve this, the barriers that have historically separated humans from industrial robots are being eliminated with the main objective of increasing performance by taking advantage of the capabilities in which each one excels. the success of collaborative robotics is possible once safety is ensured, adding the need and importance of a proper human-robot communication interface. In this context, there are many safety techniques in current collaborative robots, but these are not sufficient to guarantee high industrial production and quality products. Non-verbal communication using the hands is one of the most widely used techniques in the industrial environment for the exchange of human-human information. thus, this work presents a safety solution based on the creation of a new layer that allows the avoidance of human-robot collisions and includes a robust and safe human-robot communication interface. Advanced automatic learning and computer vision techniques have been used in its development, which was experimental analyses and validated in a co-work scenario involving an industrial collaborative robot and an operator.

关键词： Industrial Collaborative robots Safety Human-robot Communication Human-robot Interaction

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Design and Simulation of an Image-Based Fuzzy Tracking Controller for a Wheeled Mobile robot

Design and Simulation of an Image-Based Fuzzy Tracking Contr...

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4th International conference on Machine vision (ICMV) - computer vision and Image Analysis - Pattern Recognition and Basic Technologies

作者： Shiao, Ying Shing Wu, Ching Wei National Chang-hua Univ. of Education (Taiwan)

ISBN: (纸本)9780819490261

Image processing algorithms and fuzzy logic method are used to design a visual tracking controller for mobile robot navigation. In this paper, a wheeled mobile robot is equipped with a camera for detecting its task space. the grabbed environmental images are treated using image recognition processing to obtain target's size and position. the images are treated using input membership functions as the fuzzy logic controller input. the recognized target's size and position are input into a fuzzy logic controller in which fuzzy rules are used for inference. the inference results are output to the defuzzifier to obtain a physical control signal to control the mobile robot's movement. the velocity and direction of the mobile robot are the output of fuzzy logic controller. the differences in velocities for two wheels are used to control the robot's movement directions. the fuzzy logic controller outputs the control commands to drive the mobile robot to reach a position 50cm front of the target location. the simulation results verify that the proposed FLC is effective in navigating the mobile robot to track a moving target.

关键词： Mobile robot Fuzzy controller Tracking control and Image recognition

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Adapting computer vision Algorithms to Smartphone-based robot for Education 4

Adapting Computer Vision Algorithms to Smartphone-based Robo...

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4th International conference on Multimedia Computing, Networking and Applications, MCNA 2020

作者： Esquivel-Barboza, Esteban A. Llamas, Luis F. Vazquez, Pablo Bellas, Francisco Arias-Mendez, Esteban Instituto Tecnologico de Costa Rica PARMA-Group Escuela de Computacion Cartago Costa Rica Integrated Group for Engineering Research CITIC Research Center Universidade da Coruña A Coruña Spain

ISBN: (数字)9781728183732

ISBN: (纸本)9781728183732

Robobo is a smartphone-based educational robot used on multiple education stages. the following paper describes the development and testing of three computer vision algorithms that run natively in Robobo. they perform real-Time object identification, ArUcO marker detection, and lane detection. With them, the students that use the Robobo robot can develop highly realistic projects on mobile robotics. this brings robotics teaching closer to real robotics, where advanced computer vision algorithms are widely used. the characterization of the algorithms that are presented in this document shows that their performance is very high in comparison to implementations that run on a standard computer. © 2020 IEEE.

关键词： Smartphones

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Towards Practical Visual Servoing in robotics

Towards Practical Visual Servoing in Robotics

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10th International conference on computer and robot vision (CRV)

作者： Fomena, Romeo Tatsambon Quintero, Camilo Perez Gridseth, Mona Jagersand, Martin Univ Alberta Dept Comp Sci Comp Vis & Robot Res Grp Edmonton AB Canada

ISBN: (纸本)9780769549835

Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges involved in applying visual servoing to solve real world problems. this paper presents an overview of these challenges, by asking the question what are the missing components for practical visual servoing? and by providing practical possible solutions for these components. Illustration of these challenges and our current practical solutions are given using our 7-DoFs Barrett WAM Arm.

关键词： visual servoing visual tracking visual task specification human-robot interface

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