Super-quadrics are a volumetric primitive which can model many objects ranging from cubes to spheres to octahedrons to 8-pointed stars and anything in between. They also can be stretched, bent, tapered and combined wi...
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Many global shape recognition techniques, such as moments and Fourier Descriptors, are used almost exclusively with two-dimensional images. It would be desirable to extend these global shape recognition concepts to th...
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A method called Feature Extraction by Demands (FED) has been developed to generate object descriptions. Objects are described by surface adjacency graphs containing the surface class and the surface equation at each n...
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One approach to object recognition is the matching of two-dimensional contours, which are obtained from the projection of a three-dimensional model, with aggregates of lines extracted from an image. It is necessary to...
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We present an algorithm that uses the zero-crossing information obtained from multiple resolution Laplacian of a 2-D Gaussian (∇2G) filtering to estimate the location, orientation, width (blur) and shape of the intens...
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The vision-guided robotic irregular parcels and pieces singulation (generalized bin-picking) and address block location technologies are described. The technological requirements and limitations are examined and discu...
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The vision-guided robotic irregular parcels and pieces singulation (generalized bin-picking) and address block location technologies are described. The technological requirements and limitations are examined and discussed. Other mail singulation technologies for letters and flats that use vision-guided intelligentrobots and computer-controlled intelligent mechanisms are reviewed.< >
The mobile robot prototypes developed at the Oak Ridge National Laboratory (ORNL) Center for Engineering Systems Advanced Research (CESAR) are equipped with sonar sensors and CCD (charge coupled device) cameras that a...
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ISBN:
(纸本)0818620129
The mobile robot prototypes developed at the Oak Ridge National Laboratory (ORNL) Center for Engineering Systems Advanced Research (CESAR) are equipped with sonar sensors and CCD (charge coupled device) cameras that are used to support autonomous navigation and simple inspection tasks in an a priori unknown and unstructured dynamic environment. A laser range camera is being added to the sensor suite of HERMIES III, a mobile robot that is currently being built. The authors summarize work directed at extracting information from data collected with these sensors and integrating it, in order to produce reliable descriptions of the robot's environment. Specifically, they describe the integration of two-dimensional vision and sonar range information. The integration methodology is based on a framework for multisensor integration that consists of multiple, distributed world models and appropriate mappings among them;sensor models, including appropriate, sensor-specific signal and information processing algorithms;and integration strategies. All operations are carried out onboard the mobile robot using a 16-processor hypercube computer.
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