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intelligent robots and computer vision VI

Intelligent Robots and Computer Vision VI

引用

intelligent robots and computer vision VI 1987

The proceedings contain 81 papers. The topics discussed include: object identification and orientation estimation from contours based on an affine invariant curvature;recognizing and locating objects using partial object description generated by feature extraction by demands;morphological shape representation and recognition of binary images;frequency domain characterization of synthetic discriminant functions;vision guided intelligent robot design and experiments;the digital morphological sampling theorem;new algorithms for automated symmetry recognition;localized noise propagation effects in parameter transforms;an experimental system for the integration of information from stereo and multiple shape from texture algorithms;and discriminating textured surfaces in natural imagery.

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Model-based satellite acquisition and tracking

Model-based satellite acquisition and tracking

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intelligent robots and computer vision VI 1987

作者： Casasent, David Lee, Andrew J. Carnegie Mellon University Center for Excellence in Optical Data Processing Department of Electrical and Computer Engineering PittsburghPA15213 United States

A model-based optical processor is introduced for the acquisition and tracking of a satellite in close proximity to an imaging sensor of a space robot. The type of satellite is known in advance, and a model of the satellite (which exists from its design) is used in this task. The model base is used to generate multiple smart filters of the various parts of the satellite, which are used in a symbolic multi-filter optical correlator. The output from the correlator is then treated as a symbolic description of the object, which is operated upon by an optical inference processor to determine the position and orientation of the satellite and to track it as a function of time. The knowledge and model base also serves to generate the rules used by the inference machine. The inference machine allows for feedback to optical correlators or feature extractors to locate the individual parts of the satellite and their orientations. © 1988 SPIE. All rights reserved.

关键词： Satellites

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Visually guided robotic system for flexible manufacturing automation

Visually guided robotic system for flexible manufacturing au...

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

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

A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is presented. This system can, in many instances, fulfill the same function as the human worker at a faster rate, with higher accuracy/repeatability, and at a reduced cost. The overall system is comprised of two major subsystems: the use of computer vision for object tracking and object identification/manipulation. These subsystems can be described as follows: an optimal tracking subsystem that can visually track and intercept an arbitrary object which is travelling at an unknown velocity on a moving conveyor and the development of a robust visual bar code scanning scheme which can accommodate arbitrary bar code orientations. Thus, the system will provide for the realization of autonomous identification and inspection of arbitrary objects travelling on a conveyor. A Unimate PUMA 560 robot with integrated sensors and a MicroVax II host computer have been employed to evaluate the performance of the presented techniques. The overall system configuration, its basic principles, and a demonstration of the initial results are discussed. © 1988 IEEE.

关键词： intelligent robots

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Multi-pipeline architecture for real-time low-level image processing

Multi-pipeline architecture for real-time low-level image pr...

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intelligent robots and computer vision VI 1987

作者： Chen, Z. Chang, C.C. Lin, S.Y. Hwang, R.H. Institute of Computer Engineering National Chiao Tung University Hsinchu Taiwan

We shall present two kinds of multi-pipeline architecture for real-time low-level image processing. The first one is to be used in the general local operations of image processing with a fixed 3×3 window size. The second one is to be used in a less general local operations with a dynamic window size. The image processing functions executable in these architectures include Sobel edge operator, Laplacian high-pass filter, smoothing operation, erosion, and dilation, etc. The raw image is inputted into the frame buffer of the parallel processor. Different schemes are designed to set up the data flow path among the processing elements or cells. © 1988 SPIE. All rights reserved.

关键词： High pass filters

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On describing a robotic scene

On describing a robotic scene

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intelligent robots and computer vision VI 1987

作者： Hayward, Vincent Aubry, Stéphane Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines 3480 University Street MontréalQCH3A 2A7 Canada

The focus of this article is the presentation of the issues involved in the design of a system able to automatically or semi-automatically construct a global, world-centered model of an industrial scene. In a robotic context, the uses of such a model could be the detection and prevention of collisions, and the interactive off-line programming of manipulators. More generally, such a model can be useful for a variety of automation tasks, including graphic simulation and machining operations sequencing. We first review range acquisition and solid modelling techniques in light of' their respective appropriateness to the above problem. Then we explain how the process of constructing a scene differs from both object recognition and image processing, since we are a priori not interested in isolating distinguishing features of objects but rather in faithfully describing entire scenes. We also discuss how the merging of the several views of the scene is a central element of the scene acquisition process and how great care must be exercised in order to maintain connectivity consistency. Finally, we show that data acquisition, solid modelling as well the actual process of constructing the scene are closely interrelated and that these three issues, all of which are necessary components of the scene description process, should not be considered independently of each other. © 1988 SPIE. All rights reserved.

关键词： Manipulators

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Mobile Robot Harunobu-4 For Outdoor Environment - Stereotyped Motion By Sign Pattern

Mobile Robot Harunobu-4 For Outdoor Environment - Stereotype...

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1988 IEEE International Workshop on intelligent robots and Systems: Toward the Next Generation Robot and System, IROS 1988

作者： Mori, Hideo Chino, Yukio Nakai, Kazuhiko Saitoh Masayuki Chen, Xiao J. Department of Computer Science Yamanashi University Kofu Takeda4-3-11 Japan

A mobile robot strategy stereotyped motion by sign pattern drawn from a study of lower animal is applied to mobile robot "Harunobu. A stereotyped motion is specified by a fixed action pattern which appeared always when the robot encountered a certain situation. It is classified into two groups;vision-based motion and sensor-based motion. The former is consist of Moving-Along, Moving-Toward,Turning-Crossing and Avoiding- Obstacle. A sign pattern is specified by a part of an object that initiates and guides the stereotyped motion. The latter is consist of Running-Over-Step and several Collision- Avoiding woken up by bumper switches and ultrasonic sensors. To deal with such error status in vision based motion as No-passage-found or Sign- pattern-missing, several Error Recovery motions are specified. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Mobile robots

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Frequency domain characterization of synthetic discriminant functions

Frequency domain characterization of synthetic discriminant ...

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intelligent robots and computer vision VI 1987

作者： Vijaya Kumar, B.V.K. Bahri, Zouhir Center for Excellence in Optical Data Processing Electrical and Computer Engineering Department Carnegie Mellon University PittsburghPA15213 United States

Synthetic Discriminant Functions (SDF's) constitute an approach to distortion-invariant pattern recognition when sufficiently descriptive training images are available. Traditionally, the SDF's have been designed in the image space even though their eventual implementation in optical processors requires the fabrication of computer Generated Holograms (CGH's) that can be placed in the frequency plane of optical correlators. With this consideration, we formulate the SDF problem in the frequency domain and characterize the set containing all the solutions. This conversion of the SDF problem from space domain to frequency domain requires that we define a "pseudo-DFT11 operation. Relevant properties of this new operation are proved. This formal mathematical characterization of the frequency-domain SDF solutions allows us to select solutions with attractive features such as having unit magnitude (phase only) or only two amplitude levels (suitable for ON-OFF devices). © 1988 SPIE. All rights reserved.

关键词： Frequency domain analysis

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New algorithms for automated symmetry recognition

New algorithms for automated symmetry recognition

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intelligent robots and computer vision VI 1987

作者： Paul, Jody Kilgore, Tammy Elaine Klinger, Allen Department of Computer Science University of California Los Angeles 405 Hilgard Avenue Los AngelesCA90024 United States Department of Chemistry and Biochemistry University of California Los Angeles 405 Hilgard Avenue Los AngelesCA90024 United States

In this paper we present new methods for computer-based symmetry identification that combine elements of group theory and pattern recognition. Detection of symmetry has diverse applications including: the reduction of image data to a manageable subset with minimal information loss, the interpretation of sensor data,1 such as the x-ray diffraction patterns which sparked the recent discovery of a new "quasicrystal" phase of solid matter,2 and music analysis and composition.3, 4, 5 Our algorithms are expressed as parallel operations on the data using the matrix representation and manipulation features of the APL programming language. We demonstrate the operation of programs that characterize symmetric and nearly-symmetric patterns by determining the degree of invariance with respect to candidate symmetry transformations. The results are completely general;they may be applied to pattern data of arbitrary dimension and from any source. © 1988 SPIE. All rights reserved.

关键词： APL (programming language)

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The structure of vision modules on a fine-grained machine

The structure of vision modules on a fine-grained machine

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intelligent robots and computer vision VI 1987

作者： Little, James J. Artificial Intelligence Laboratory Massachusetts Institute of Technology United States

Integrating the modules of early vision, such as color, motion, texture, and stereo, is necessary to make a machine see. Parallel machines offer an opportunity to realize existing modules in a near real-time system;this makes system, hence integration, issues crucial. Effective use of parallel machines requires analysis of control and communication patterns among modules. Integration combines the products of early vision modules into intermediate level structures to generate semant ically meaningful aggregates. Successful integration requires identifying critical linkages among modules and between stages. The Connection Machine is a fine-grained parallel machine, on which many early and middle vision algorithms have been implemented. Schemes for integrating vision modules on fine-grained machines are described. These techniques elucidate the critical information that must be communicated in early and middle vision to create a robust integrated system. © 1988 SPIE. All rights reserved.

关键词： Real time systems

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3D surface reconstruction using orientation map and sparse depth map information

3D surface reconstruction using orientation map and sparse d...

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intelligent robots and computer vision VI 1987

作者： Chiaradia, M.T. Distante, A. Stella, E. Istituto Elaborazioni Segnali ed Immagini - C.N.R. C/O Dipartimento di Fisica Universita' di Bari Via Amendola 173 Bari70100 Italy

This paper describes an approach to 3D surface reconstruction using orientation map and sparse depth map information. The approach integrates the information provided by two different sources: Stereo vision and Local Shading Analysis. In our scheme the sparse depth map, obtained by stereo binocular technique, provides an estimate of surface shape that can be refined by local shading information (an orientation map), extracted from one of the stereo pairs intensity images. The integration process consists of two phases. In the first one, the scene is segmented in connected regions by means of the raw needle map. In the second one, the surface interpolation is obtained using information extracted from the segmentation process and the sparse depth map. The result of the integrated approach is a good quality dense depth map. The functionality of the whole approach has been tested on synthetical data. We are, now, analyzing the applicability to real data. © 1988 SPIE. All rights reserved.

关键词： Stereo vision

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