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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81-90 订阅

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Discriminating textured surfaces in natural imagery 6

Discriminating textured surfaces in natural imagery

引用

intelligent robots and computer vision VI 1987

作者： Dunn, Stanley Gulukota, Karunakar Department of Electrical and Computer Engineering Rutgers University PiscatawayNJ08855-0909 United States

Texture, or the arrangement of surface markings, is an important cue that can be used to identify objects in an image. More often than not, object recognition requires estimating the surface orientation of the constituent surfaces. If texture is used to recover the surface orientation, then separating the surfaces to form objects will require discriminating the textured surfaces when the markings have undergone an oblique projection. However, many of the most widely used methods for discriminating textures are not applicable for discriminating textures distorted by oblique projection since they are all based on measurement of distances and angles. Prior work has focused on using the cross ratio of distances between four collinear points chosen appropriately. The results of the experiments with real textures indicate that although the cross ratio performed well, using other projective invariants should be investigated. Two ratios of distances between three points that are invariant under orthographic projection are considered. The two invariants are described first, followed by the results of using these invariants to discriminate natural textures. © 1988 SPIE. All rights reserved.

关键词： Textures

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Self-localization method using two landmarks and dead reckoning for autonomous mobile soccer robots 1

引用

7th Robot World Cup Soccer and Rescue Competitions and Conference (ROBO CUP 2003)

作者： Motomura, A Matsuoka, T Hasegawa, T Kyushu Univ Grad Sch Informat Sci & Elect Engn Dept Intelligent Syst Higashi Ku Fukuoka 8120053 Japan

ISBN: (数字)9783540259404

ISBN: (纸本)3540224432

We propose a new method of self-localization using two landmarks and dead reckoning for a soccer robot equipped with an omnidirectional camera as a local vision sensor. This method requires low computational cost. Thanks to rapid process, the system can afford to run multiple localization process in parallel resulting robust and accurate localization. An experimental result in the field of Robocup Middle-size league indicates that the approach is reliable.

关键词： Sports

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ROBOSIGHT: Robotic vision system for inspection and manipulation

ROBOSIGHT: Robotic vision system for inspection and manipula...

引用

Expert robots for Industrial Use 1988

作者： Trivedi, Mohan M. Chen, Chuxin Marapane, Suresh Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. vision systems are utilized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful fqr tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed. © 1989 SPIE. All rights reserved.

关键词： intelligent robots

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Flexible corner detection based on a single-parameter control

Flexible corner detection based on a single-parameter contro...

引用

intelligent robots and computer vision VI 1987

作者： Chen, Shiuh-Yung Chern, Ming-Yang Northwestern University Department of Electrical Engineering and Computer Science 2145 Sheridan Road EvanstonIL60208 United States

Corner detection is often an important part of feature extraction and pattern recognition. For a given contour image, different sets of corners can be extracted depending on the scale adopted to examine the object. Existing algorithms do not emphasize the adjustability of the detection and the effect of changing their parameters is hard to predict. In this paper, we propose an algorithm which is controlled by a single parameter for corner detection. The tangent direction along the contour is evaluated based on the Poisson function weighted average of the directions connecting the given point to its neighbours within a range specified by the parameter. And the change in the tangent direction is then smoothed and compared within the range to find the corners. Based on our scheme, the number of corners decreases monotonically as the parameter value increases. The scaling effect of this simple parameter is easily predictable and similar to human visual perception. Some experimental results are shown in this article. © 1988 SPIE. All rights reserved.

关键词： Feature extraction

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An experimental system for the integration of information from stereo and multiple shape from texture algorithms

An experimental system for the integration of information fr...

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intelligent robots and computer vision VI 1987

作者： Boult, Terrance E. Moerdler, Mark Columbia University Department of Computer Science New York CityNY10027 United States

In numerous computer vision applications, there is both the need and the ability to access multiple types of information about the three dimensional aspects of objects or surfaces. When this information comes from different sources the combination becomes non-trivial. This paper describes the present state of ongoing research in Columbia's vision Laboratory in the integration of multiple visual sensing methodologies which yield three dimensional information, in particular, feature based stereo algorithms, and various shape-from-texture algorithms are already in operation and multi-view shape-from-texture and shape-from shading modules are expected to be incorporated. Unlike most systems for multi-sensor integration, which fuse all the information at one conceptual level, e.g., the surface level, the system under development uses two levels of data fusion, intra-process integration and inter-process integration. The paper discusses intra-process integration techniques for feature-based stereo and shape-from-texture algorithms. It also discusses a inter-process integration technique based on smooth models of surfaces. Examples are presented using camera acquired images. © 1988 SPIE. All rights reserved.

关键词： Stereo image processing

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3-D location and recognition of polyhedric objects

3-D location and recognition of polyhedric objects

引用

intelligent robots and computer vision VI 1987

作者： Laieb, N. Tonfack, N. Faure, A. Université du Havre Place Robert Schuman Le Havre76610 France

In the present state of the art, the importance of the artificial vision in robotics, industries and the necessity of robot presence in hostile environment is not yet to prove. The vision systems that already exist are type application dependent. There are three main classes of the stereo vision systems: - The laser imaging are potentially hazardous and has difficulties with shiny metal reflective surfaces. At present, it is a more expensive depth sensing technology than the other methods stated bellow;- Photometric stereo puts great demands on the illumination in the scene and properly undestanding the reflectance properties of the object to be viewed;- Whenever, the binocular stereo vision can be used in a wide range of illuminations and object domains. It is a well understood method. Its low cost motivate its use in a generalized robotics environment, neverless, the difficulties encountered when one want to put in correspondance the two images of the stereo pair. This paper presents one binocular stereo vision system, applied to the polyhedric objects, which performs in a first time the features extraction and 3-D coordinates determination of the vertices. In a second time, it also permits the recognition of objects that have been already modelled on data-base and characterised on an appropriate knowledge-base. The principal operations performed by our system are: - The image processing (segmentation, edge extraction and idealization, skeleton);- Object's location (vertices extraction and the determination of their 3-D coordinates);- Object recognition (pertinent features extraction, knowledge base establishement and object identification). Experimental results are already obtained in our laboratory. © 1988 SPIE. All rights reserved.

关键词： Stereo vision

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Shape recognition using a CMAC based learning system

Shape recognition using a CMAC based learning system

引用

intelligent robots and computer vision VI 1987

作者： Glanz, F.H. Miller, W.T. University of New Hampshire Electrical and Computer Engineering Department Kingsbury Hall DurhamNH03824 United States

This paper discusses pattern recognition using a learning system which can learn an arbitrary function of the input and which has built-in generalization with the characteristic that similar inputs lead to similar outputs even for untrained inputs. The amount of similarity is controlled by a parameter of the program at compile time. Inputs and/or outputs may be vectors. The system is trained in a way similar to other pattern recognition systems using an LMS rule. Patterns in the input space are not separated by hyperplanes in the way they normally are using adaptive linear elements. As a result, linear separability is not the problem it is when using Perceptron or Adaline type elements. In fact, almost any shape category region is possible, and a region need not be simply connected nor convex. An example is given of geometric shape recognition using as features autoregressive model parameters representing the shape boundaries. These features are approximately independent of translation, rotation, and size of the shape. Results in the form of percent correct on test sets are given for eight different combinations of training and test sets derived from two groups of shapes. © 1988 SPIE. All rights reserved.

关键词： Learning systems

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An expert supervisor for a robotic work cell

An expert supervisor for a robotic work cell

引用

intelligent robots and computer vision VI 1987

作者： Moed, M.C. Kelley, R.B. Robotics and Automation Laboratories Electrical Computer and Systems Engineering Dept. Rensselaer Polytechnic Institute TroyNY12180-3590 United States

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified 3D part assembly tasks into various target robotic work cells, and execute these tasks efficiently using manipulators and sensors available in the work cell. One level of this hierarchy, the Supervisor, is responsible for assigning subtasks of a system-generated Task Plan to a set of task specific Specialists and on-line coordination of the activity of these Specialists to accomplish the user-specified assembly. The design of the Supervisor can be broken down into five major functional blocks: resource management;concurrency detection;task scheduling;error recovery;and interprocess communication. The Supervisor implementation has been completed on a VAX 11/750 under a Unix environment. PC card Pick-Insert experiments were performed to test this implementation. To test the robustness of the architecture, the Supervisor was then transported to a new work cell under a VMS environment. The experiments performed under Supervisor control in both implementations are discussed after a brief explanation of the functional blocks of the Supervisor and the other levels in the hierarchy. © 1988 SPIE. All rights reserved.

关键词： Supervisory personnel

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UTILIZATION OF ROBOTIC, vision AND CONVEYOR SYSTEMS FOR intelligent WORK-PIECE HANDLING.

UTILIZATION OF ROBOTIC, VISION AND CONVEYOR SYSTEMS FOR INTE...

引用

Proceedings of Manufacturing International '88. v 1, Symposium on Product and Process Design;v 2, Symposium on Management and Economics;v 3, Symposium on Manufacturing Systems;v 4, Manufacturing Science of Composites.

作者： Solanki, R.S. Rattan, K.S. Wright State Univ Dayton OH USA Wright State Univ Dayton OH USA

This paper describes some of the basic components of an automated, flexible, manufacturing work-cell using vision-guided robots, conveyor systems, computer controlled machining systems, sensors, etc. This computer Integrated Manufacturing (CIM) work-station is involved in the tasks of work-piece recognition, vision-assisted robotic part transfer from a conveyor to a machine chuck, component processing, removal of the work-piece from the chuck, on-line vision-assisted quality control and error-data generation, and component removal to the next work-cell. This CIM station is designed to be the basic building block for the factory of the future.

关键词： robots, INDUSTRIAL

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Application of multi-channel hough transform to stereo vision

Application of multi-channel hough transform to stereo visio...

引用

intelligent robots and computer vision VI 1987

作者： Nasrabadi, Nasser M. Liu, Yi Computer Vision Research Group Worcester Polytechnic Institute Department of Electrical Engineering Atwater Kent Laboratories 100 Institute Road WorcesterMA01609 United States

A feature-based stereo vision technique is described in this paper where curve-segments are used as the feature primitives in the matching process. The local characteristics of the curve-segments are extracted by the Generalized Hough Transform (R-table) representation of the curve-segment. The left image and the right image are first filtered by using several Laplacian of a Gaussian operators (V2G) of different widths. At each channel, the Generalized Hough Transform of each curve-segment in the left and the right image is evaluated. This is done by calculating the R-table representation of each curve-segment based upon the cen-troid of the curve-segment. The R-table, curve-length, and the average gradient of the curve are used as a local feature vector in representing the distinctive characteristics of the curve-segment. The feature vector of each curve-segment is used as a constraint to find an instance of the same curve-segment in the right image. The epipolar constraint on the centroids of the curve-segment is used to limit the searching space in the right image. A relational graph is formed from the left image by treating the centroids of the curve-segment as the nodes of the graph. The local features of the curve-segments are used to represent the local properties of the nodes, and the relationship between the nodes represents the structural properties of the object in the scene. A similar graph is also formed from the right image curve-segments. Sub-graph isomorphism is then formed between the two graphs by using the epipolar constraint on the centroids, the local properties of the nodes (node assignment), and the structural relationship (compatibility) between the nodes. © 1988 SPIE. All rights reserved.

关键词： Stereo vision

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