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CONF ON IMAGE processing algorithms AND TECHNIQUES 3

作者： ARIMURA, K ATR Auditory and Visual Perception Research Labs. (Japan)

ISBN: (纸本)0819408115

This paper describes how motion segmentation can be achieved by analyzing of a single static image that is created from a series of picture frames. The key idea is motion imaging; in other words, motion is expressed in static images by integrating, frame after frame, the spatiotemporal fluctuations of the gradient gray level at each local area. This tends to create blurred or attached line images (images with lines that show the path of movement of an object through space) on moving objects. We call this 'motion texture'. We computed motion texture images based on the animation of a natural scene and on a number of computer synthesized animations containing groups of moving objects (random dots). Moreover, we applied two different texture analyses to the motion textured images for segmentation: a texture analysis based on the local homogeneity of gray level gradation in similarly textured regions and another based on the structural feature of gray level gradation in motion texture. Experiments showed that subjective visual impressions of segmentation were quite different for these animations. The texture segmentation described here successfully grouped moving objects coincident to subjective impressions. In our random dot animations, the density of the basic motion vectors extracted from each pair of successive frames was set at a constant to compensate for the dot grouping effect based on the vector density. The dot appearance period (lifetime) is varied across the animations. In a long lifetime random dot animation, region boundaries can be more clearly perceived than in a short one. The different impressions may be explained by analyzing the motion texture elements, but can not always be represented successfully using the motion vectors between two successive frames whose density is set at a constant between the animations with the different lifetime.

关键词： Image segmentation Motion analysis Image processing Image analysis Visualization Image visualization Image processing algorithms and systems Sodium Motion detection Visual analytics

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OPTICAL CORRELATOR TECHNIQUES APPLIED TO ROBOTIC VISION 3

OPTICAL CORRELATOR TECHNIQUES APPLIED TO ROBOTIC VISION

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CONF ON OPTICAL INFORMATION processing systems AND ARCHITECTURES 3

作者： HINE, BP REID, MB DOWNIE, JD NASA/Ames Research Ctr. (United States)

ISBN: (纸本)0819406929

Vision processing is one of the most computationally intensive tasks required of an autonomous robot. The data flow from a single typical imaging sensor is roughly 60 Mbits/sec, which can easily overload current on-board processors. Optical correlator-based processing can be used to perform many of the functions required of a general robotic vision system, such as object recognition, tracking, and orientation determination, and can perform these functions fast enough to keep pace with the incoming sensor data. We describe a hybrid digital electronic/analog optical robotic vision processing system developed at Ames Research Center to test concepts and algorithms for autonomous construction, inspection, and maintenance of space-based habitats. We discuss the system architecture design and implementation, its performance characteristics, and our future plans. In particular, we compare the performance of the system to a more conventional all digital electronic system developed concurrently. The hybrid system consistently outperforms the digital electronic one in both speed and robustness.

关键词： Optical correlators Databases Optical filters Image filtering Optical signal processing Robotic systems Digital electronics Robot vision Spatial light modulators Algorithm development

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HAND-EYE COORDINATION FOR GRASPING MOVING-OBJECTS

HAND-EYE COORDINATION FOR GRASPING MOVING-OBJECTS

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CONF ON SENSOR FUSION 3 : 3-D PERCEPTION AND RECOGNITION

作者： ALLEN, P YOSHIMI, B TIMCENKO, A MICHELMAN, P Columbia Univ. (United States)

ISBN: (纸本)0819404500

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for grasping a moving object. This task requires proper coordination between at least 3 separate subsystems: dynamic vision sensing, real-time arm control, and grasp control. As with humans, our system first visually tracks the object’s 3-D position. Because the object is in motion, this must be done in a dynamic manner to coordinate the motion of the robotic arm as it tracks the object. The dynamic vision system is used to feed a real-time arm control algorithm that plans a trajectory. The arm control algorithm is implemented in two steps: 1) filtering and prediction, and 2) kinematic transformation computation. Once the trajectory of the object is tracked, the hand must intercept the object to actually grasp it. We present 3 different strategies for intercepting the object and results from the tracking algorithm.

关键词： Cameras Robotics Visualization Optical tracking Control systems Image processing 3D image processing Detection and tracking algorithms Sensor fusion imaging systems

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FUSION OF STEREO VIEWS - ESTIMATING STRUCTURE AND MOTION USING A ROBUST METHOD

FUSION OF STEREO VIEWS - ESTIMATING STRUCTURE AND MOTION USI...

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CONF ON SENSOR FUSION 3 : 3-D PERCEPTION AND RECOGNITION

作者： WENG, JY COHEN, P Ecole Polytechnique and Ctr. de Recherche Informatique de Montreal (United States) Ecole Polytechnique (Canada)

ISBN: (纸本)0819404500

This paper concerns the estimation of motion parameters and scene structure through the fusion of successive stereo pairs. While a least-squares estimator is quite stable in the presence of well-behaved noise, it gives disastrous results when the input data are contaminated with a few outliers. Due to difficulties in stereo and temporal image matching, such outliers cannot be easily eliminated within the feature matching stage. Therefore, immunity to outliers is essential to motion and structure estimation algorithms. The robust estimator described in this paper reduces the influence of outliers so that the estimates are not very sensitive to gross errors in the input data. Experiments with real world images are presented with automatically established stereo and temporal matching. The accuracy of the estimated motion and depth map of the real scene is partially validated with the ground truth. Results show that the robust estimator is stable in the presence of outliers.

关键词： Cameras Error analysis imaging systems Motion estimation Calibration Image fusion Sensor fusion Stereoscopic cameras Motion analysis 3D image processing

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AUTOMATIC TARGET DETECTION IN INFRARED SEQUENCES THROUGH SEMANTIC LABELING

AUTOMATIC TARGET DETECTION IN INFRARED SEQUENCES THROUGH SEM...

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CONF ON APPLICATIONS OF DIGITAL IMAGE processing 13

作者： LAVAGETTO, F Univ. di Genova (Italy)

ISBN: (纸本)0819404101

An innovative algorithm is presented for the automatic detection of spot targets in infrared terrain image sequences. The algorithm is designed to successfully perform target detection also in presence of deceitful hot background structures such as rocks and sand representing the hottest regions of the scene. The original contribution is represented by the thermal model adopted for the infrared scene and which drives the intraframe processing by iteratively applying three processing steps: i) thresholding ii) clustering iii) semantic labeling. The aim of the intraframe segmentation module is first to detect well contrasted targets and then verify the presence of less contrasted ones on the hypothesis that they all belong to the same formation. At each iteration within the intraframe analysis the thermal threshold is lowered and the hot part of the scene is processed to look for the presence of targets. By theans of different clustering procedures the hot part of the scene is partitioned into a set of connected objects each characterized by a feature vector consisting of area peak thermal value and centroid coordinates. The objects which correspond to the target model are marked as potential targets. If they have been already detected during the previous iterations without sensible changes in the descriptive parameters they are labeled as " confirmed" targets. If on the contrary the area has significantly increased they are labeled as " expanded" targets. If a

关键词： Target detection Image segmentation Image processing Detection and tracking algorithms Infrared radiation Digital image processing Image processing algorithms and systems Target recognition Infrared detectors Infrared imaging

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Fast image processing systems for evaluating the clinical potential of ultrasound speckle suppression and parametric imaging 3

Fast image processing systems for evaluating the clinical po...

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Medical imaging iii: Image processing 1989

作者： Bamber, J.C. Bell, D.S. Crawford, D. Cook-Martin, G. Hill, C.R. Phelps, J.V. Institute of Cancer Research Royal Marsden Hospital Joint Department of Physics Downs Road Sutton SurreySM2 5PT United Kingdom

Early experience of new forms of adaptive filtering for ultrasound speckle reduction and parametric imaging, using off-line conventional digital processing, has been sufficiently encouraging to warrant attempts to build fast on-line implementations for purposes of clinical trials. This paper describes the hardware under development. The feasibility of implementing specific algorithms in real-time (video rate) at low cost was demonstrated using a hybrid digital/analogue system in which the video signal (from any scanner) is sampled to 256 points per line and passed sequentially through a series of shift registers, in order to derive a 5 by 5 window of values which surrounds the image point to be processed. These 25 video signals are then used as inputs to an analogue processor, which provides the filtered output. For greater accuracy, flexibility, spatial resolution and freedom from image artefacts, a slower system has been constructed around a commercially available digital image processor. This system has been chosen to act as the main clinical test device. Whole images maybe processed in a few tens of seconds and specified regions, if small enough, may be processed at rates approaching real-time. © 1989 SPIE. All rights reserved.

关键词： Shift registers

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Optics, Illumination, and Image Sensing for Machine Vision iii

Optics, Illumination, and Image Sensing for Machine Vision I...

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Optics, Illumination, and Image Sensing for Machine Vision iii 1988

The proceedings contain 34 papers. The topics discussed include: illumination and imaging of moving objects;strobe illumination systems for machine vision;a simple real-time method for calibrating a camera mounted on a robot for three dimensional machine vision;an optical collision timer;flexible, piezoresitive touch sensing array;how to select cameras for machine vision;minimum variance SDF design using adaptive algorithms;component spaces for invariant pattern recognition;optical color image processing for product inspection;grid labeling using a marked grid;and lighting and optics expert system for machine vision.

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AUTOMATIC CORRELATION OF NON-COMPATIBLE imaging systems.

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1979年 230-233页

作者： Boland iii, J.S. Peters, E.G. Pinson, Lewis J. Malcolm, W.W.

This paper considers the difficult problem of target hand-off between two imaging devices sensitive in different frequency spectra. The types of imaging systems considered are a high resolution day TV pointing and tracking system for target acquisition and a low resolution Infra-Red imaging Seeker for the missile. Automatic correlation of two digital arrays obtained from non-compatible imaging systems is considered. Several preprocessing algorithms are presented which transform the input video signals to a compatible format for input to a binary correlation system. The results of implementing the preprocessing algorithms in a correlation system simulation are given and explained. A preprocessing algorithm using edge detection is chosen and the advantages and disadvantages are listed.

关键词： IMAGE processing

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AUTOMATIC CORRELATION OF NON-COMPATIBLE imaging systems.

AUTOMATIC CORRELATION OF NON-COMPATIBLE IMAGING SYSTEMS.

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Proc SOUTHEASTCON Reg 3 Conf

作者： Boland iii, J.S. Peters, E.G. Pinson, Lewis J. Malcolm, W.W.

关键词： Image processing

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