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intelligent robots and computer vision VI 1987

作者： Sayeh, M.R. Han, J.Y. Department of Electrical Engineering Southern Illinois University at Carbondale CarbondaleIL62901-6603 United States

In this paper we introduce a new "neural" network for pattern recognition based on a gradient system. It is not, however, attempted to model any known behavior of biological neurons. This network stores any number of non-binary patterns (as its limit points) and retrieves them by associative recall. The network does not suffer from erroneous limit points. A realization of the network is given, which have heavily interconnected computing units. Finally two network examples are discussed. © 1988 SPIE. All rights reserved.

关键词： computer vision

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Kinematics of common industrial robots

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Robotics and Autonomous Systems 1988年第2期4卷 169-191页

作者： Lloyd, John Hayward, Vincent Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University MontréalQuébec Canada

An approach to finding the solution equations for simple manipulators is described which enhances the well known method of Paul, Renaud, and Stevenson, by explicitly making use of known decouplings in the manipulator kinematics. This reduces the set of acceptable equations from which we obtain relationships for the joint variables. For analyzing the Jacobian, such decoupling is also useful since it manifests itself as a block of zeros, which makes inversion much easier. This zero lock can be used to obtain a concise representation for the forward and inverse Jacobian computations. The decoupling also simplifies the calculations sufficiently to allow us to make good use of a symbolic algebra program (MACSYMA) in obtaining our results. Techniques for using MACSYMA in this way are described. Examples are given for several industrial manipulators. © 1988

关键词： Kinematics

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vision guided robots for automated assembly

Vision guided robots for automated assembly

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intelligent robots and computer vision VI 1987

作者： King, F.G. Puskorius, G.V. Yuan, F. Meier, R.C. Jeyabalan, V. Feldkamp, L.A. Ford Motor Company DearbornMI United States

A vision guided robot for assembly is defined to be a robot/vision system that acquires robotic destination poses (location and orientation) by visual means so that the robot's end-effector can be positioned at the desired poses. In this paper, the robot/vision system consists of a stereo-pair of CCD array cameras mounted to the end-effector of a six-axis revolute robot arm. From a systems point of view, accuracy issues of the vision system, the robot, and the manufacturing requirements are considered for the development of automated calibration methodologies for local and global work volumes of the robot/vision system. Resulting accuracy of local calibration on the order of 1.5 mm is sufficient for many automotive assembly applications. Multiple component assembly and robotic fastening has been demonstrated with the developed vision guided robot. © 1988 SPIE. All rights reserved.

关键词： End effectors

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Radio communication network on autonomous mobile robots for cooperative motions

Radio communication network on autonomous mobile robots for ...

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1988 International Conference on Industrial Electronics: Robotics and vision, IECON 1988

作者： Premvuti, Suparerk Yuta, Shln'ichi Ebihara, Yoshihiko Intelligent Robot Laboratory Institute of Information Science and Electronics University of Tsukuba Ibaraki305 Japan

For the purpose of providing a group of autonomous mobile robots with mutual communication functions, the network with special characteristics is designed. The aim of communication is to make a group of intelligent autonomous mobile robots can operate some cooperative tasks. An ordinary computer network system's concepts cannot be used directly in this special case. To find the most suitable network, required characteristics of the network used by autonomous mobile robots are surveyed and protocol that fits the need is designed. The network structure is token-bus method using radio wave as media for data communication. For testing and evaluating the proposed network's structure and protocol, a group of mobile robots "YAMABICO-9" are implemented with the proposed network. © 1988 IEEE.

关键词： Cooperative communication

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Object identification and orientation estimation from contours based on an affine invariant curvature

Object identification and orientation estimation from contou...

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intelligent robots and computer vision VI 1987

作者： Cyganski, David Orr, John A. Cott, T. Andrew Dodson, Reynold J. Electrical Engineering Department Worcester Polytechnic Institute WorcesterMA01609 United States

New methods of image matching and of calculation of the affine transformation relating two images of an object in different orientations are developed. These methods are applicable to contours extracted from images of planar-patch objects. The approach is based on a new definition of a curvature function (previously developed by the authors) which is invariant to all image distortions representable by affine transformations. The algorithm is implemented and tested using camera-acquired images of actual objects, and is seen to exhibit considerable robustness to real-world distortions in the imaging process, as well as to deviations from planarity of the objects. © 1988 SPIE. All rights reserved.

关键词： Cameras Robot vision Algorithm development Image processing computer vision technology Machine vision Detection and tracking algorithms Feature extraction Quantization Correlation function

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Recognition of similar objects using tactile image array sensor 6

Recognition of similar objects using tactile image array sen...

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intelligent robots and computer vision VI 1987

作者： Luo, Ren C. Loh, Horng-Hai Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived and implementation of those features has been conducted. With those moment invariants, we can eliminate the effect of lateral displacement and rotation from the tactile images. Through the generation of a decision tree and the utilization of the complex moment features, the shape of the similar objects from the tactile array sensor can be identified. © 1988 SPIE. All rights reserved.

关键词： Object recognition

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A machine vision identification technique from range images

A machine vision identification technique from range images

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intelligent robots and computer vision VI 1987

作者： Kehtarnavaz, N. Mohan, S. Electrical Engineering Department Texas A and M Univ. College StationTX77843-3128 United States

In this paper, we have developed an orientation-independent identification technique from three-dimensional surface maps or range images. Given the range image of an object, it is decomposed into orientation-independent patches using the sign of Gaussian curvature. A relational graph is then set up such that a node represents a patch and an edge represents the adjacency of two patches. The identification of the object is achieved by matching its graph representation to a number of model graphs. The matching is performed by employing the best-first search strategy. Examples of real range images show the merit of our technique. © 1988 SPIE. All rights reserved.

关键词： computer vision

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On the theory of intelligent controls

On the theory of intelligent controls

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intelligent robots and computer vision VI 1987

作者： Saridis, George N. Valavanis, Kimon P. Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180-3590 United States Dept. of Electrical and Computer Engineering Northeastern University BostonMA02115 United States

The recent need of generating machines with enough intelligence to perform autonomously in uncertain environments has imposed new demands on the design of control systems. The new discipline draws its ideas not only from Control Systems Theory but from Artificial Intelligence and Operations Research, as well, in order to meet the needs of intelligent operation with similarities to human behavior. Even though several approaches have been proposed, this paper will deal with the evolution of control theory that leads into the definition of Hierarchically intelligent Control and the Principle of Decreasing Precision with Increasing Intelligence. A three-level structure representing Organization, Coordination and Execution will be developed as a probabilistic model of such a system and the approaches necessary to implement each one of them will be discussed. Finally, Entropy will be proposed as a common measure of all three levels and the problem of intelligent Control will be cast as the mathematical programming solution that minimizes the total entropy. © 1988 SPIE. All rights reserved.

关键词： Control theory

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Robust parallel computation of image displacement fields

Robust parallel computation of image displacement fields

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intelligent robots and computer vision VI 1987

作者： Anandan, P. Cullen, Mark F. Computer Science Department Yale University New HavenCT06520 United States Perkin-Elmer Corp. 25 Science Park New HavenCT06511 United States

This paper describes the implementation of a hierarchical multi-resolution algorithm for the computation of dense displacement fields on the Connection Machine1. The algorithm uses the pyramid representation of the images and a coarse-to-fine matching strategy. At each level of processing, a confidence measure is computed for the match of each pixel, and a smoothness constraint is used to propagate the reliable displacements to their less reliable neighbors. The focus of this implementation is the use of the Connection Machine for pyramid processing and the implementation of the coarse to fine matching strategy. It will be shown that this technique can be used to successfully match pairs of real images in near real-time. © 1988 SPIE. All rights reserved.

关键词： computer vision

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Optical feature extraction for high-speed inspection

Optical feature extraction for high-speed inspection

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intelligent robots and computer vision VI 1987

作者： Clark, David Casasent, David Global Holonetics Corporation P.O. Box 1305 FairfieldIA52556 United States Carnegie Mellon University Center for Excellence in Optical Data Processing Department of Electrical and Computer Engineering PittsburghPA15213 United States

A fully-engineered real-time (15 object per second) optical Fourier transform feature space processor for product inspection is described. This unit is presently undergoing evaluation at several sites. This paper discusses the feature space techniques employed, the advantages of the Fourier transform reduced-dimensionality feature space used, and several of its properties. Emphasis is given to initial performance data obtained in many diverse applications. © 1988 SPIE. All rights reserved.

关键词： Inspection

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