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检索条件"任意字段=Intelligent Robots and Computer Vision VII 1988"

共 139 条记录，以下是21-30 订阅

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Range image analysis via quadtree and pyramid structure based on surface curvature

Range image analysis via quadtree and pyramid structure base...

引用

intelligent robots and computer vision vii 1988

作者： Yang, Hyun S. University of Iowa Department of Electrical and Computer Engineering Iowa CityIA52242 United States

This paper presents a method which can expedite, while maintaining the accuracy, range image analysis such as range image segmentation, classification, and location of the region of interest in the range image, thereby making 3-D vision techniques based on range images more useful in manipulating robots accurately in real time. The proposed method incorporates quadtree and pyramid structure in order to quickly analyze range images. In order to make range image analysis independent of the viewing directions, surface curvatures, which are visible-invariant surface characteristics, are exploited. Specifically, we will discuss the following topics: (1) problems of using the surface curvatures for the range image analysis in the presence of noise;(2) generation of the range image pyramid;(3) reliable range image segmentation and classification via split-and-merge using the planarity test and the surface curvatures;(4) incorporation of the quadtree and the pyramid structure to speed up the projection process. © 1989 SPIE. All rights reserved.

关键词： Image classification

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Segmentation of range images using simple differential-geometric features

Segmentation of range images using simple differential-geome...

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intelligent robots and computer vision vii 1988

作者： Krishnapuram, Raghu J. Munshi, Anasua University of Missouri Department of Electrical and Computer Engineering ColumbiaMO65211 United States

Although range images are similar to intensity images in some respects, there are some important differences. For example, traditional edge operators used in intensity images can detect occluding (jump) boundaries in range images easily, but they fail to detect most edges within objects. Thus, the features one selects for segmentation of range images have to be somewhat different from those selected for intensity images. In this paper, we introduce a scalar feature based on surface normal information for segmenting range images. This feature is attractive since it converts vector information into scalar information and since it can be computed very easily using existing intensity-image edge operators. Initial results obtained with ERIM range images of blocks are presented. © 1989 SPIE. All rights reserved.

关键词： Image segmentation

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A fuzzy approach to the interpretation of robot assembly forces

A fuzzy approach to the interpretation of robot assembly for...

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intelligent robots and computer vision vii 1988

作者： Sood, Deepak Repko, Michael C. Moed, Michael C. Kelley, Robert B. Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

Uncertainties encountered in part positioning and variations in part dimensions have motivated the use of sensor feedback control in robot assembly. This paper presents a fuzzy logic based system which interprets the forces and torques generated by a force/torque sensor mounted on a robotic wrist, and controls the execution of robotic assembly tasks. Techniques from the field of fuzzy decision making are applied to the force/torque feedback to monitor the mating of parts by a robot. An example is presented that addresses the problems of inserting a printed circuit board into a card cage. The fuzzy rules that are used to interpret the force/torque readings are discussed and the experimental results are presented. © 1989 SPIE. All rights reserved.

关键词： Feedback

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Noise reduction and defect segmentation of the surface picture of bearing rollers in the presence of oil pollution

Noise reduction and defect segmentation of the surface pictu...

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intelligent robots and computer vision vii 1988

作者： Zhang, Y. Xian, W. Tu, Z. Hall, E.L. Dept. of Precision Instrument Chongqing University China Dept. of Mechanical Engineering Univ. of Cincinnati OH45221 United States

In this paper, we deal with the problem of defecting and segmenting the surface appearance defects of the bearing rollers with our specially designed inspection system. We propose two different methods to process the pictures obtained from different precision of rollers. Our algorithms are dimonstrated feasible to be implemented on general purpose hardware image processing architecture and thus achieve high speed and show the promise to be practical in the future. © 1989 SPIE. All rights reserved.

关键词： computer architecture

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Rule-based for a string code pattern recognition processor

Rule-based for a string code pattern recognition processor

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intelligent robots and computer vision vii 1988

作者： Casasent, David Chien, Sung-Il Carnegie Mellon University Center for Excellence in Optical Data Processing Department of Electrical and Computer Engineering PittsburghPA15213 United States

A 3-D distortion-invariant multi-class object identification problem is addressed. Our new, fast and robust string-code generation technique (using optical and digital methods) makes the rule-based system quite practical and attractive. Emphasis is given to our rule-based system and to initial data results. Excellent multi-class recognition and reasonable object distortions can be accommodated in this system. We achieved 80-90% correct recognition (Pc) for 10 object classes and +30 ° 3-D distortions and full 360 ° in-plane distortions. © 1989 SPIE. All rights reserved.

关键词： Pattern recognition

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Perceptual models for computer vision

Perceptual models for computer vision

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intelligent robots and computer vision vii 1988

作者： Ligomenides, Panos A. Cybernetics Research Laboratory Electrical Engineering Department University of Maryland College ParkMD20742 United States

Human perception of resemblance in spatio-temporal patterns y(x;X) is modeled interactively by procedural elastic templates, called "formal description schema - fdsk" models. The identification, representation and quantification of uncertainty-ambiguity in human holistic perception are problems to be resolved by the man-machine interactive modeling of the human faculties of discernment of generic percepts and perceptual organizations, and of assessment of degrees of conformity to these characteristic elastic constraints of a reference k-norm. Underconstrained and often indeterminate visual sensory patterns are, in turn, recognized in real-time by the procedural fdsk-models, which, progressively and accumulatively, assess conformity of sensory patterns to reference k-norms. In this paper we discuss the nature of the formal tolerance-models of conformity, we review our work on the interactive fdsk-modeling of human perception of resemblance for ID patterns y(x;X), and we examine fuzzy-theoretic aspects of the probabilistic, possibilistic or belief measures of uncertainty in assessing and in predicting conformity to the elastic constraints of a k-norm, in the presence of incomplete or erroneous sensory data. © 1989 SPIE. All rights reserved.

关键词： computer vision

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Reliable communication protocol between intelligent robots 7

Reliable communication protocol between intelligent robots

引用

intelligent robots and computer vision vii 1988

作者： Zhang, N. Liu, K.H. Edwards, W.L. Posner, E.C. Pacific Bell 2600 Camino Ramon 3S450 San RamonCA94583 United States Caltech 116-81 PasadenaCA91125 United States

The use of a payload pointer within the synchronous transmission frame can alleviate the need for large high speed slip buffers at multiplexers and high order cross-connects. The payload pointer protocol is introduced first. Then the performance of the protocol is analyzed. Analysis of the MTBPF (Mean Time Between Pointer Failure) for the payload pointer demonstrates that a rather elegant symbolic formula can be approximated. More specifically, by adding a one bit error correcting capability to the New Data Flag enable, we found the MTBPF to be almost 1.4 times better. With the addition of a one bit error correcting capability in the pointer value, we can achieve at least 0.14 × (ber)-1 times improvement, if bit error rate is 6. A two bit error correcting capability in the pointer value results only in at most 8.5 times improvement over the one bit case. Based on the performance analysis and cost-effectiveness considerations, the payload pointer protocol with dual one bit error correction is very attractive. Hence it is suitable as a communication protocol between intelligent robots. © 1989 SPIE. All rights reserved.

关键词： intelligent robots

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Exploration and search with intentional visual actions

Exploration and search with intentional visual actions

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intelligent robots and computer vision vii 1988

作者： Strahman, Deborah Dept. of Computer and Information Science University of Massachusetts AmherstMA01003 United States

Active vision is a term used to denote the control of the camera's geometric parameters to aid in the satisfaction of perceptual goals. Here it is combined with intentional visual actions generated by task oriented decisions. The focus of this paper is the use of intentional active vision to perform exploration and spatial search. These are common components of many perceptual tasks in which the viewer is dealing with a space and objects within that space that are at most partially known or modeled. Examples of such tasks are determining the location of the product code of unknown part on an assembly line, finding an exit sign in an known building, or a lost tool in a cluttered workspace. As proposed here, exploration is a reactive process which has strategies, composed of visual actions and predictions, for dealing with the various spatial situations encountered. To recognize the current situation temporary models of the locally visible surfaces are built. These enable the spatial reasoning for construction of the strategies. Though these surfaces are disposed of when no longer local, a coarse spatial memory avoids duplication of effort and aids in deciding when the task is complete. The visual actions are intended motions for which viewing direction and possibly other camera parameters are controlled. © 1989 SPIE. All rights reserved.

关键词： Cameras

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Practical demonstration of a learning control system for a five-axis industrial robot

Practical demonstration of a learning control system for a f...

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intelligent robots and computer vision vii 1988

作者： Hemes, Robert P. Miller, U. Thomas Department of Electrical and Computer Engineering Kinsgbury Hall University of New Hampshire DurhamNH03824 United States

The overall complexity of many robotic control problems, and the ideal of a truly general robotic control system, have led to much discussion of the use of neural networks in robot control. This paper discusses a learning control technique which uses an extension of the CMAC network developed by Albus, and presents the results of real time control experiments which involved learning the dynamics of a 5 axis industrial robot (General Electric P-5) during high speed movements. During each control cycle, a training scheme was used to adjust the weights in the network in order to form an approximate dynamic model of the robot in appropriate regions of the control space. Simultaneously, the network was used during each control cycle to predict the actuator drives required to follow a desired trajectory, and these drives were used as feedforward terms in parallel to a fixed gain linear feedback controller. Trajectory tracking errors were found to converge to low values within a few training trials, and to be relatively insensitive to the choice of feedback control system gains. © 1989 SPIE. All rights reserved.

关键词： Industrial robots

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Space and time requirements for two image data structures

Space and time requirements for two image data structures

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intelligent robots and computer vision vii 1988

作者： Baraghimian, G.A. Klinger, A. Hughes Aircraft Company 8433 Fallbrook Ave. Canoga ParkCA91304 United States University of California at Los Angeles Computer Science Department Los AngelesCA90024-1596 United States

We present research on tree structures using hexagonally and quarternarily organized imagery. The purpose is to determine and compare benefits from applying these pyramidal representations. Our motive is to develop new approaches to image computing. We compare space and time requirements of two hierarchical data structures. The basic image representation is by the septree and the quadtree data pyramids. A septree is a seven-descendant tree;values stored are found by decomposing a roughly-hexagonal planar region into its central hexagon and its six uniformly-adjacent neighbors. A quadtree is a four-descendant tree;its values are similarly obtained using the more common rectangular decomposition of a planar image. Today's technology (i.e., CCD arrays;VLSI chips) enables both the hexagonal and quartering tesselations to co-exist;likewise, lower-cost hardware trends encourage innovative computer systems for image analysis. Both image data structures presented here for static two-dimensional scenes can be extended to three-dimensional analogies. These can be used in computer vision models and in time-sequences of images for robots. © 1989 SPIE. All rights reserved.

关键词： Forestry

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