A number of machine vision systems have been invented, analyzed, and related to their ability to perform their intended tasks. The systems have usually been hybrid, with the sensor being the analog device, and the pro...
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ISBN:
(纸本)0892526149
A number of machine vision systems have been invented, analyzed, and related to their ability to perform their intended tasks. The systems have usually been hybrid, with the sensor being the analog device, and the processing and articulation control being digital. Herein, a system is proposed in which the use of an optical correlator is extended to a vision system by using the parametric sensitivities of a matched filter as position or aspect determinants. The results of the analysis of the proposed system are presented and related to applications suitable for the techniques.
A multisensor, microprocessor-controlled robotic locating system (RLS) is being developed in our machine intelligence laboratory. A video camera, laser illuminator, optical angle sensors, and ultrasonics are the prima...
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ISBN:
(纸本)0892526149
A multisensor, microprocessor-controlled robotic locating system (RLS) is being developed in our machine intelligence laboratory. A video camera, laser illuminator, optical angle sensors, and ultrasonics are the primary sensor components. Software is being developed on a personal computer that has been augmented with video acquisition and high-speed signal processing boards. Real-time (less than 1 second) algorithms are being implemented that exploit both natural and artificial patterns. Artificial patterns are introduced by planting light-emitting diodes (LED) and reflective materials in the environment. Projecting light patterns is also part of the design. Using control points to determine camera position and orientation is a particularly interesting problem because of its apparent simplicity. Several algorithms for calibrating a camera using control points are discussed in detail. The use of four control points in a rectangular configuration is especially detailed. A review of various approaches to camera calibration is included.
A value function structure is proposed to solve the problem of multiple sensor integration. The value of a sensor or a group of sensors will be a function of the number of possible object contenders under consideratio...
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ISBN:
(纸本)0892526149
A value function structure is proposed to solve the problem of multiple sensor integration. The value of a sensor or a group of sensors will be a function of the number of possible object contenders under consideration and the number that can be rejected by using the information available. It will also depend on the current state of the environment and can be redefined to indicate changes in sampling frequency and/or resolution for the sensors. A theorem prover will be applied to the sensor information available to reject any contenders. The rules used by the theorem prover can be different for each sensor while the integration is provided by the common decision space. This overcomes any incompatibility between different sensors with respect to feature extraction and pattern recognition algorithms. A database will be used to store the values for different sensor groups and the best search paths, and can be adaptively updated, thus providing a training methodology for the implementation of this approach.
The motivation for this development is a need to construct a robot simulation facility which will assist in the development of effective algorithms to plan and control robot movements. It was thought that a system tha...
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ISBN:
(纸本)0892526149
The motivation for this development is a need to construct a robot simulation facility which will assist in the development of effective algorithms to plan and control robot movements. It was thought that a system that presented robot's movements with an animated graphic display would be useful in the design and testing of robot planning and control programs. In this research a 'programmer's apprentice', called the Graph Design Assistant (GDA), has been designed to help researchers construct robot simulation models on an Evans and Sutherland PS 300 graphic workstation. A programmer's apprentice is an expert system with knowledge about a programming task. It guides and advises a programmer as he interactively builds a program. This article describes how the system allows a researcher to develop a program on the PS 300 without having to learn the intricacies of the PS 300's dataflow language.
The principles of stereo vision for three-dimensional data acquisition are well-known and can be applied to the problem of an autonomous robot vehicle. Coincidental points in the two images are located and then the lo...
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ISBN:
(纸本)0892526149
The principles of stereo vision for three-dimensional data acquisition are well-known and can be applied to the problem of an autonomous robot vehicle. Coincidental points in the two images are located and then the location of that point in a three-dimensional space can be calculated using the offset of the points and the knowledge of the camera positions and geometry. This research investigates the application of artificial intelligence knowledge representation techniques as a means to apply heuristics to relieve the computational intensity of the low level image processing tasks. Specifically a new technique for image feature extraction is presented. This technique, the Queen Victoria Algorithm, uses formal language productions to process the image and characterize its features. These characterized features are then used for stereo image feature registration to obtain the required ranging information. The results can be used by an autonomous robot vision system for environmental modeling and path finding.
An automated, or 'smart', surveillance system must be sensitive to small object motion wherever it may occur within a large field of view. The system must also be capable of distinguishing changes of interest ...
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ISBN:
(纸本)0892526149
An automated, or 'smart', surveillance system must be sensitive to small object motion wherever it may occur within a large field of view. The system must also be capable of distinguishing changes of interest from other image activity or noise. Yet the data processing capabilities of practical systems is often quite limited. To achieve these performance objectives at a low data rate, a pyramid based image preprocessor has been constructed that can compute frequency tuned 'change energy' measures in real time. A microprocessor then examines a relatively small set of these measures and follows a foveal search strategy to isolate moving objects for tracking or for more detailed analysis.
The conference proceedings contains 55 papers. Among the areas covered are: recognition for intelligentrobots;image processing for robot vision;artificial intelligence in image understanding;computervision;robot pat...
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ISBN:
(纸本)0892525568
The conference proceedings contains 55 papers. Among the areas covered are: recognition for intelligentrobots;image processing for robot vision;artificial intelligence in image understanding;computervision;robot path planning;tactile and other robotic sensors;3-D representation, modeling amd processing;robotic systems and applications. The topics discussed include: object orientation;visionalgorithms;heuristic route planning;pattern classes;robotic location systems;imaging tactile sensors;multiple image flows;and assembly inspection.
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the...
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ISBN:
(纸本)0892525568
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the necessary computer time and the robustness of their algorithms for non-polyhedral cylindrical worlds.
In this paper the authors describe a robot vision system for the fast determination of object type and location. The algorithms are general and powerful enough to be used both in passive and active vision applications...
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ISBN:
(纸本)0892525568
In this paper the authors describe a robot vision system for the fast determination of object type and location. The algorithms are general and powerful enough to be used both in passive and active vision applications. Here, their practical implementation in a passive robot vision system is discussed. A solid state array camera takes images of the objects passing underneath. Local characteristic features are extracted from contours in a binary image and yield the basis for object recognition.
作者：
Anandan, P.Univ of Massachusetts
Computer & Information Science Dep Amherst MA USA Univ of Massachusetts Computer & Information Science Dep Amherst MA USA
Matching successive frames of a dynamic image sequence using area correlation has been studied for many years by researchers in machine vision. Most of these efforts have gone into improving the speed and the accuracy...
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ISBN:
(纸本)0892525568
Matching successive frames of a dynamic image sequence using area correlation has been studied for many years by researchers in machine vision. Most of these efforts have gone into improving the speed and the accuracy of correlation matching algorithms. The displacement fields produced by these algorithms are often incorrect in homogeneous areas of the image and in areas which are visible in one frame, but are occluded in the succeeding frames. In this paper, the authors present a confidence measure which indicates the reliability of each displacement vector computed by a specific hierarchical correlation matching algorithm. They also provide an improved hierarchical matching algorithm which performs particularly well near occlusion boundaries.
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