Human visual system is properly suited for reliable and adequate volumic perception of natural environment. Volumic data flows coming from the outer physical space are easily acquired, transferred and processed by eye...
详细信息
ISBN:
(纸本)0819434302
Human visual system is properly suited for reliable and adequate volumic perception of natural environment. Volumic data flows coming from the outer physical space are easily acquired, transferred and processed by eye-brain system in real time. This relates also to the animals which use different complicated mechanisms of optical volumic data acquisition and can navigate safely at high speeds. Un the contrary machine vision systems utilizing currently the stereoscopic effect in attempt to achieve volumic data presentation are very slow, bulky and in a way inelegantly devised. The stereoscopy itself seems can hardly organize the adequate, real time volumic robot vision. Novel general principles of volumic vision were formulated recently by this author. They can be applied also to machines and used in the future rapidly navigating mobile robots. Volumic approach to vision seems much more logical for handling of volumic data flows. Along the lines of this approach and unified concept of volumic imaging it is quite natural to assume fine stratification in depth both for biological volumic data sensors and the necessity of fine stratification in depth for artificial ones. Volumic data sensors in robotics seem must be organized as finely stratified in depth structures. Finely stratified in depth volumic data sensor operating in real time might incorporate volumic gratings and use a special software to interpret the arriving volumic data flow. While the task is very difficult, success would permit to organize volumic robot vision in a different war and to create principally novel type of robotic system, ie, 'one-eyed robots'. Preliminary experiments were performed in this work. Complicated holographic gratings were obtained which might serve as components of a future volumic data sensor. Microphotographs of such gratings taken as horizontally stratified slices are presented.
An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is bei...
详细信息
An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for `Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligentrobots that will benefit industry and society.
This work presents one method aimed to individualization and recognition of vial signs in route and city. It is based fundamentally on the identification by means of color and form of the vial sign, located in the bor...
详细信息
This work presents one method aimed to individualization and recognition of vial signs in route and city. It is based fundamentally on the identification by means of color and form of the vial sign, located in the border of the route or street in city, and then recognition. To do so the obtained RGB image is processed, carrying out diverse filtrates in the sequence of input images, or intensifying the colors of the same ones otherwise, recognizing their silhouette and then segmenting the sign and comparing the simbology of them with the previously stored and classified database.
We demonstrate the use of our active object recognition algorithms in a mechanical assembly task. The algorithms are used to classify and estimate the pose of parts of the assembly in different stable rest positions a...
详细信息
We demonstrate the use of our active object recognition algorithms in a mechanical assembly task. The algorithms are used to classify and estimate the pose of parts of the assembly in different stable rest positions and automatically re-position the camera if the class or pose of an object is ambiguous in a given image. Multiple object views are used in determining both the final object class and pose estimate. A feature space trajectory (FST) in eigenspace is used to represent 3-D distorted views of each object. The FSTs are analyzed off-line to determine the camera positions that best resolve ambiguities. We also describe methods for rejecting untrained objects and adding new parts to an existing set of FSTs using a new feature update method.
A method for locating the doors in an image is presented. The method integrates an edge map with color information known about the doors to provide better results than methods based purely on color or edges. The Hough...
详细信息
A method for locating the doors in an image is presented. The method integrates an edge map with color information known about the doors to provide better results than methods based purely on color or edges. The Hough transform is used to find lines and then a set of heuristics is used to find possible door regions. The door regions are tested by determining whether the region is the correct color. The combination of color and edge data allowed the system to successfully identify doors within a complex environment at different scales, orientations, lighting conditions, and using different cameras.
At present, in computervision, the approach based on modeling the biological vision mechanisms is extensively developed. However, up to now, real world image processing has no effective solution in frameworks of both...
详细信息
At present, in computervision, the approach based on modeling the biological vision mechanisms is extensively developed. However, up to now, real world image processing has no effective solution in frameworks of both biologically inspired and conventional approaches. Evidently, new algorithms and system architectures based on advanced biological motivation should be developed for solution of computational problems related to this visual task. Basic problems that should be solved for creation of effective artificial visual system to process real world images are a search for new algorithms of low-level image processing that, in a great extent, determine system performance. In the present paper, the results of psychophysical experiments and several advanced biologically motivated algorithms for low-level processing are presented. These algorithms are based on local space-variant filter, context encoding visual information presented in the center of input window, and automatic detection of perceptually important image fragments. The core of latter algorithm (the cascade method) are using local feature conjunctions such as noncolinear oriented segment and composite feature map formation. Developed algorithms were integrated into foveal active vision model, the MARR. It is supposed that proposed algorithms may significantly improve model performance while real world image processing during memorizing, search, and recognition.
An new concept for visually guided manipulator control is introduced. It eliminates the need for a calibration of the manipulator as well as of the vision system and comprises an automatic adaptation to changing param...
详细信息
An new concept for visually guided manipulator control is introduced. It eliminates the need for a calibration of the manipulator as well as of the vision system and comprises an automatic adaptation to changing parameters. A key point of the concept is the achievement of a complex and elaborate desired goal by activating an appropriate sequence of rather simple elementary behaviors. Contrary to conventional stereo vision methods it uses an calibration-free camera system and allows a direct transition from image coordinates to motion control commands of a robot. By this approach, the abstract coordinate transformations have been avoided, instead, image data are used directly to control the behavior of the robot, or the interactions of the robot with physical objects. Thus, it makes knowledge of many hard-to-measure optical and mechanical system unnecessary;moreover, it lends itself to the realization of learning and adaptive robots. The concept has been successfully realized and tested in real-word experiments with an visually guided calibration-free 5 degree of freedom (DOF) manipulator involving the grasping of various objects with nearly any shape in arbitrary position (standing, lying, sloping) in the robot' 3-D work space.
Classification of real-time X-ray images of randomly oriented touching pistachio nuts is discussed. The ultimate objective is the development of a system for automated non-invasive detection of defective product items...
详细信息
Classification of real-time X-ray images of randomly oriented touching pistachio nuts is discussed. The ultimate objective is the development of a system for automated non-invasive detection of defective product items on a conveyor belt. We discuss the use of clustering (multiple clusters per class) and how it is vital to achieve useful classification. New clustering methods using class identity and new cluster classes are advanced and shown to be of use for this application. Radial basis function neural net classifiers are emphasized. We expect our results to be of use for other classifiers and applications.
This work demonstrates a vision-based control technique that does not require robot or vision system calibration. There are two distinct advantages: first, the approach is generic and can be applied to a variety of sy...
详细信息
This work demonstrates a vision-based control technique that does not require robot or vision system calibration. There are two distinct advantages: first, the approach is generic and can be applied to a variety of systems;second, calibration is unnecessary after a reconfiguration or disturbance to the robotic workcell. It has the potential to provide a low-cost, low-maintenance automation solution for unstructured industries and environments. The robot end-effector tracks a moving target using a novel dynamic quasi-Newton control law formulated in the image plane and on-line Jacobian estimation using either a dynamic Broyden's method or a dynamic recursive least squares algorithm. Experimental results demonstrate convergent and stable control of an uncalibrated manipulator tracking a moving target. The method is shown to be robust to system reconfiguration such as modifications to the position and orientation of the camera.
This paper presents a new concept for 3-D free-form surface registration and object recognition using a new surface representation scheme. This representation scheme captures the 3-D curvature information of any free-...
详细信息
This paper presents a new concept for 3-D free-form surface registration and object recognition using a new surface representation scheme. This representation scheme captures the 3-D curvature information of any free-form surface and encodes it into a 2-D image corresponding to a certain point on the surface. This image is unique for this point and is independent from the object translation or orientation in space. For this reason we called this image `Surface Point Signature' (SPS). This scheme can be used as a global representation of the surface as well as a local one and also in a scale independent surface matching. It performs faster registration than existing registration approaches.
暂无评论