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检索条件"任意字段=Conference on Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques"

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High speed scanning: An improved algorithm

High speed scanning: An improved algorithm

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conference on intelligent robots and computer vision XIV - algorithms, techniques, Active vision, and Materials Handling

作者： Nachimuthu, A Hoang, K UNIV NEW S WALES SCH MECH & MFG ENGNSYDNEYNSW 2052AUSTRALIA

ISBN: (纸本)0819419524

In using machine vision for assessing an object's surface quality, many images are required to be processed in order to separate the good areas from the defective ones. Examples can be found in the leather hide grading process; in the inspection of garments/canvas on the production line; in the nesting of irregular shapes into a given surface... . The most common method of subtracting the total area from the sum of defective areas does not give an acceptable indication of how much of the `good' area can be used, particularly if the findings are to be used for the nesting of irregular shapes. This paper presents an image scanning technique which enables the estimation of useable areas within an inspected surface in terms of the user's definition, not the supplier's claims. That is, how much useable area the user can use, not the total good area as the supplier estimated. An important application of the developed technique is in the leather industry where the tanner (the supplier) and the footwear manufacturer (the user) are constantly locked in argument due to disputed quality standards of finished leather hide, which disrupts production schedules and wasted costs in re-grading, re- sorting... . The developed basic algorithm for area scanning of a digital image will be presented. The implementation of an improved scanning algorithm will be discussed in detail. The improved features include Boolean OR operations and many other innovative functions which aim at optimizing the scanning process in terms of computing time and the accurate estimation of useable areas.

关键词： Inspection Manufacturing Machine vision Image processing Algorithm development Image resolution Image segmentation Statistical analysis Light sources and illumination Standards development

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Aspects in automatic nesting of irregular shapes

Aspects in automatic nesting of irregular shapes

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conference on intelligent robots and computer vision XIV - algorithms, techniques, Active vision, and Materials Handling

作者： Hoang, K UNIV NEW S WALES SCH MECH & MFG ENGNSYDNEYNSW 2052AUSTRALIA

ISBN: (纸本)0819419524

Nesting of shoe parts onto a leather hide is a very complex puzzle. This is because firstly, both the shoe parts and the leather hide are of irregular shapes and secondly, leather quality is not uniform throughout the hide, certain zones are only suitable for certain types of shoe parts. Moreover, leather hide bears stretch directions which some shoe parts are not permitted to be nested in at certain angles to the hide's stretch directions. Thirdly, the pose of defects in some shoe parts can be acceptable or unacceptable depending on the manufacturer's quality standard. Machine vision researchers have been attempting to capture the hide defect map and use this data file for assisting the computerization nesting of the irregular shapes. There are many challenging tasks in the visual inspection stage which affect the performance of the nesting systems. An essential assignment is the clustering of leather defects. Two vital parameters required in the clustering of defects are the minimum Euclidean distance between defects to be clustered and the re-classification of the newly formed cluster if it contains more than one type of defect or satisfied more serious defect type definition. In order to minimize the wastage in yield, this work recommends that during the inspection stage, only defects of the same type are to be clustered and the process should cease at the point where the newly formed cluster is to become a more serious defect type. The question of minimum Euclidean distance should be considered at both inspection stage as a preliminary clustering operation and at the nesting stage when the shoe size and part shapes are known, as a fine tuned process.

关键词： leather defect inspection clustering nesting machine vision

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Internet-based control for the intelligent unmanned ground vehicle: Bearcat cub

Internet-based control for the intelligent unmanned ground v...

引用

conference on intelligent robots and computer vision XXI

作者： Ghaffari, M Narayanan, S Sethuramasamyraja, B Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945155X

Secure remote access with inter-operatability for operating a robot can be successfully achieved using the web services provided in the NET framework. The complete design of the machine discussed in this paper is made on the NET framework. The server which operates the robot is configured to US. The algorithm for obstacle detection is coded on a different server using the NET framework. By using web services, the robot can be accessed by other servers. These web services are consumed by the server on which the robot executes. A proxy is created on this server. The whole control is given in the form of a series of web pages which can be accessed by any web browser. However in order to input parameters and control the robot, authentication is required. The user provides authentication credentials which are matched with the existing information on the data base. After authentication, the user proceeds further to control the robot. The security and reliability of remote access is provided by the components that come with the web services namely, SOAP, WSDL and Proxy.

关键词： robotics .NET remote control tele-robotics Internet-based control unmanned ground vehicle

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Finger Tracking for Hand-held Device Interface Using Profile-matching Stereo vision

Finger Tracking for Hand-held Device Interface Using Profile...

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conference on intelligent robots and computer vision XXX - algorithms and techniques

作者： Chang, Yung-Ping Lee, Dah-Jye Moore, Jason Desai, Alok Tippetts, Beau Brigham Young Univ Dept Elect & Comp Engn Provo UT 84602 USA

ISBN: (纸本)9780819494351

Hundreds of millions of people use hand-held devices frequently and control them by touching the screen with their fingers. If this method of operation is being used by people who are driving, the probability of deaths and accidents occurring substantially increases. With a non-contact control interface, people do not need to touch the screen. As a result, people will not need to pay as much attention to their phones and thus drive more safely than they would otherwise. This interface can be achieved with real-time stereovision. A novel Intensity Profile Shape-Matching Algorithm is able to obtain 3-D information from a pair of stereo images in real time. While this algorithm does have a trade-off between accuracy and processing speed, the result of this algorithm proves the accuracy is sufficient for the practical use of recognizing human poses and finger movement tracking. By choosing an interval of disparity, an object at a certain distance range can be segmented. In other words, we detect the object by its distance to the cameras. The advantage of this profile shape-matching algorithm is that detection of correspondences relies on the shape of profile and not on intensity values, which are subjected to lighting variations. Based on the resulting 3-D information, the movement of fingers in space from a specific distance can be determined. Finger location and movement can then be analyzed for non-contact control of hand-held devices.

关键词： stereo vision hand-held device interface non-contact control finger tracking

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Omni-vision based autonomous mobile robotic platform

Omni-vision based autonomous mobile robotic platform

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conference on intelligent robots and computer vision XX: algorithms, techniques, and Active vision

作者： Cao, ZL Hu, J Cao, J Hall, EL Tianjin Univ Technol Tianjin Peoples R China

ISBN: (纸本)081944300X

As a Laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

关键词： mobile robot omni directional vision navigation teach-and-playback image database

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Teaching the computer subjective notions of feature connectedness in a visual scene for real time vision.

Teaching the computer subjective notions of feature connecte...

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conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Mundhenk, TN Landauer, C Bellman, K Arbib, NA Itti, L Univ So Calif Dept Comp Sci Henry Salvatori Comp Sci Ctr Los Angeles CA 90089 USA

ISBN: (纸本)081945561X

We discus a tool kit for usage in scene understanding where prior information about targets is not necessarily understood. As such, we give it a notion of connectivity such that it can classify features in an image for the purpose of tracking and identification. The tool VFAT (Visual Feature Analysis Tool) is designed to work in real time in an intelligent multi agent room. It is built around a modular design and includes several fast vision processes. The first components discussed are for feature selection using visual saliency and Monte Carlo selection. Then features that have been selected from an image are mixed into useful and more complex features. All the features are then reduced in dimension and contrasted using a combination of Independent Component Analysis and Principle Component Analysis (ICA/PCA). Once this has been done, we classify features using a custom non-parametric classifier (NPclassify) that does not require hard parameters such as class size or number of classes so that VFAT can create classes without stringent priors about class structure. These classes are then generalized using Gaussian regions which allows easier storage of class properties and computation of probability for class matching. To speed up to creation of Gaussian regions we use a system of rotations instead of the traditional Psuedo-inverse method. In addtion to discussing the structure of VFAT we discuss training of the current system which is relatively easy to perform. ICA/PCA is trained by giving VFAT a large number of random images. The ICA/PCA matrix is computed by features extracted by VFAT. The non-parametric classifier NPclasify it trained by presenting it with images of objects having it decide how many objects it thinks it sees. The difference between what it sees and what it is supposed to see in terms of the number of objects is used as the error term and allows VFAT to learn to classify based upon the experimenters subjective idea of good classification.

关键词： iRoom biological vision tool multi agent saliency real time

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Color Image Processing for Date Quality Evaluation

Color Image Processing for Date Quality Evaluation

引用

27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Lee, Dah-Jye Archibald, James K. Brigham Young Univ Provo UT 84602 USA

ISBN: (纸本)9780819479327

Many agricultural non-contact visual inspection applications use color image processing techniques because color is often a good indicator of product quality. Color evaluation is an essential step in the processing and inventory control of fruits and vegetables that directly affects profitability. Most color spaces such as RGB and HSV represent colors with three-dimensional data, which makes using color image processing a challenging task. Since most agricultural applications only require analysis on a predefined set or range of colors, mapping these relevant colors to a small number of indexes allows simple and efficient color image processing for quality evaluation. This paper presents a simple but efficient color mapping and image processing technique that is designed specifically for real-time quality evaluation of Medjool dates. In contrast with more complex color image processing techniques, the proposed color mapping method makes it easy for a human operator to specify and adjust color-preference settings for different color groups representing distinct quality levels. Using this color mapping technique, the color image is first converted to a color map that has one color index represents a color value for each pixel. Fruit maturity level is evaluated based on these color indices. A skin lamination threshold is then determined based on the fruit surface characteristics. This adaptive threshold is used to detect delaminated fruit skin and hence determine the fruit quality. The performance of this robust color grading technique has been used for real-time Medjool date grading.

关键词： machine vision color mapping color grading Medjool date non-contact visual inspection

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Autonomous cross country driving using Active vision

Autonomous cross country driving using Active Vision

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conference on intelligent robots and computer vision XXI

作者： Pellkofer, M Hofmann, U Dickmanns, ED Siemens VDO Automot AG D-93055 Regensburg Germany

ISBN: (纸本)081945155X

For robust and safe cross country driving, an autonomous ground vehicle must be able to handle conflicts, which may arise from limitations of perception performance, of the dynamics of the vehicle's active camera head and from the feasibility of locomotion maneuvers. This paper describes the interaction and coordination of image processing, gaze control and behavior decision. The behavior decision module specifies the perception tasks for the image processing experts according to the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. Depending on its perception task received, an image processing expert specifies combinations of socalled rep-ions of attention (RoA) for each object in 3D object coordinates. These RoA cover relevant object parts and should be visible with a resolution and in a manner as required by the measurement techniques applied. The gaze control unit analyzes the combinations of RoA of all image processing experts in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. This dynamic interaction has been demonstrated in different complex and scalable autonomous missions with the UBM test vehicle VAMORS. The mission described in this paper makes the vehicle meet an unexpected ditch of unknown size and position forcing the vehicle to reactive behavior regarding locomotion, gaze control as well as image processing.

关键词： active vision autonomous vehicles cross country driving detection of negative obstacles stereo vision

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Cavity surface measuring system using stereo reconstruction

Cavity surface measuring system using stereo reconstruction

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conference on intelligent robots and computer vision XV: algorithms, techniques, Active vision, and Materials Handling

作者： Paar, G Bauer, A Joanneum Research Institute (Austria)

ISBN: (纸本)0819423068

Three-dimensional (3D) reconstruction of highly textured surfaces on unvegetated (rock-like) terrain is of major interest for stereo vision based mapping applications. We describe a prototype system for automatic modeling of such scenes. It is based on two frame CCD cameras, which are tightly attached to each other ensuring constant relative orientation. One camera is used to acquire known reference points to get the exterior orientation of the system, the other records the surface images. The system is portable to keep image acquisition as short as possible. Automatic calibration using the images acquired by the calibration camera permits the computation of exterior orientation parameters of the surface camera via a transformation matrix. A robust matching method providing dense disparities together with a flexible reconstruction algorithm renders an accurate grid of 3D points on arbitrarily shaped surfaces. The results of several stereo reconstructions are merged. Projection onto the global shape allows easy evaluation of volumes, and thematic mapping with respect to the desired surface geometry in construction processes. We report on accuracy and emphasize on the practical usage. It is shown that the prototype system is able to generate a proper data set of surface descriptions that is accurate and dense enough to serve as documentation, planning and accounting basis.

关键词： stereo matching 3D reconstruction computer vision photogrammetry calibration rock surface volume measurements

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Comparison of Three Control Methods for an Autonomous Vehicle

Comparison of Three Control Methods for an Autonomous Vehicl...

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27th conference on intelligent robots and computer vision: algorithms and techniques

作者： Deshpande, Anup Mathur, Kovid Hall, Ernest Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)9780819479327

The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate the search for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program and WSDK (Windows Servo Design Kit) serves as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++ and the voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety skills.

关键词： intelligent autonomous vehicle electrical control hydraulic control mechanical control human interface

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