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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Sun, Chang-Ming Forrest, Andrew K. Imperial Coll. of Science Technology and Medicine West Lindfield Sydney NSW Australia

ISBN: (纸本)0819410268

Binocular vision is the coordinated behavior of the two eyes by which a single perception of the external world is obtained and by which, the specific sensation of stereoscopic depth perception, is made possible. This perception, however, can be reversed by interchanging the left- and right-eye views. In this paper, the mathematical expression of the Vieth-Mueller circle is derived. A point on the line of the primary direction is found which only relates to the convergence angle and the interocular distance. A relation is developed between the position of a point in real space and its reversal if viewed pseudoscopically. It is shown that in some circumstances a concave surface is not necessarily perceived as a convex surface under pseudoscopic viewing conditions. The difference in perceiving real objects and stereograms is briefly discussed.

关键词： Binocular vision

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Identification of flaws in metallic surfaces using specular and diffuse bispectral light sources

Identification of flaws in metallic surfaces using specular ...

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Magee, Michael Seida, Steven B. Franke, Ernest A. Univ. of Wyoming Laramie WY USA

ISBN: (纸本)0819410268

A computer vision based automated method for identifying and quantifying flaws in cast metal parts is presented. The specific defects to be isolated consist of small circular concavities in the surface (pits) and larger isolated regions (scratches) that may have been abraded due to cutting or handling operations. The approach taken identifies these anomalous features using two spatially separated light sources with different spectral characteristics to produce highly specular illumination at one wavelength and shallow diffuse illumination at a different wavelength. A bispectral image is processed to yield the sought flaws. This processing consists of identifying regions of interest in the original image that may contain potential flaws and applying a morphological region labelling operation to extract candidate pits and scratches. Geometric constraints are applied to the extracted regions in order to isolate the true flaws. The discussion that follows details the algorithmic approach used to identify flaws as well as characterizing the results obtained.

关键词： computer vision

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Controlling multiple groups of robots

Controlling multiple groups of robots

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Hor, Maw-Kae Inst. of Information Science Nankang Taipei Taiwan

ISBN: (纸本)0819410268

Coordinating multiple robots has attracted researchers' interests for many years. However, most of the problems being studied deal with multiple robots acted only within a single group. Coordinated robots are categorized into different groups when the coordination involves robots interchange or heterogeneous motion during the manipulation process. In such a case, coordination between robot groups has to be considered. This is required in certain types of coordinated manipulations such as passing an object, held by multiple robots, between groups of robots or rotating or rolling an object, held by multiple robots, continuously. In the former task, coordinations are made between two isotropic groups of robots whereas in the latter task, coordinations are made between non-isotropic groups of robots. This paper investigates problems related to the control and coordinating of multiple groups of robots. We analyze various kind of tasks of these types and propose a hierarchical control mechanism in achieving these coordinations. Scenarios and limitations for these tasks are presented and discussed. A hybrid force and position control principle is employed in both global and local planning and control. A hierarchical architecture is used to control different levels of the control and planning primitives. The primitives developed for controlling individual robot group can be adopted in this architecture. The primitives in one level offer services only to those in its neighboring levels and hides them from the details of actual service implementations hence reducing the system designing complexity.

关键词： robots

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'We do dishes, but we don't do windows': function-based modeling and recognition of rigid objects

'We do dishes, but we don't do windows': function-based mode...

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Sutton, Melanie Stark, Louise Bowyer, Kevin W. Univ. of South Florida Tampa FL USA

ISBN: (纸本)0819410268

Generic recognition for computer vision is a goal that is still far from reality. Part of the problem rests in the inherent limitations of current `model-based' vision. Our approach moves away from specific geometric or structural models and instead focuses on the functionality of the object as the property which drives the recognition process. This results in a representation that is generic in the sense of capturing an entire category of objects. One important assumption underlying the form and function approach is that a `small' number of `primitive' concepts about shape, physics, and causation will suffice to define the functionality of a broad range of categories. If multiple new `primitives' were required to define each additional category, then much of the advantages of the function-based approach over the traditional model-based approach would be lost. This paper presents some initial experimental results from the GRUFF-3 system, which uses function-based representation to recognize rigid objects in the superordinate category dishes. The performance of this system has been evaluated on a database of approximately 200 shapes.

关键词： computer vision

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Industrial robot

Industrial robot

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Prakashan, A. Mukunda, H.S. Sudhakar Samuel, R.D. Colaco, J.C. S. J. Coll. of Engineering Mysore India

ISBN: (纸本)0819410268

This paper addresses the design and development of a four degree of freedom industrial manipulator, with three liner axes in the positioning mechanism and one rotary axis in the orientation mechanism. The positioning mechanism joints are driven with dc servo motors fitted with incremental shaft encoders. The rotary joint of the orientation mechanism is driven by a stepping motor. The manipulator is controlled by an IBM 386 PC/AT. Microcomputer based interface cards have been developed for independent joint control. PID controllers for dc motors have been designed. Kinematic modeling, dynamic modeling, and path planning have been carried out to generate the control sequence to accomplish a given task with reference to source and destination state constraints. This project has been sponsored by the Department of Science and Technology, Government of India, New Delhi, and has been executed in collaboration with M/s Larsen & Toubro Ltd, Mysore, India.

关键词： Industrial robots

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AUTOMATED TRACKING AND GRASPING OF A MOVING OBJECT WITH A ROBOTIC HAND EYE SYSTEM

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1993年第2期9卷 152-165页

作者： ALLEN, PK TIMCENKO, A YOSHIMI, B MICHELMAN, P Department of Computer Science Columbia University New York NY USA

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

关键词： Robotics and automation Robot kinematics Robot sensing systems Robot vision systems Robotic assembly Real time systems Machine vision Grippers Assembly systems Mobile robots

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Looking near one object for another

Looking near one object for another

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Wixson, Lambert E. Univ. of Rochester Rochester NY USA

ISBN: (纸本)0819410268

In order to search for an object as efficiently as possible, it can be very useful to take advantage of the spatial relationships in which it commonly participates. Searches that do so, which we call indirect searches, can be modeled as two-stage processes that first find an intermediate object that commonly participates in a spatial relationship for the target object, and then look for the target in the restricted region specified by this relationship. Using this model, previous work has determined that over a wide range of situations, for searches that involve rotating a camera about a fixed location, indirect searches improve efficiency by factors of 2 to 8. However, several areas require future research if indirect search is to become a widely applicable easily usable technique. This paper describes three major areas in need of study - recognizing typical intermediate objects, defining spatial relationships, and constructing mechanisms for moving a camera to examine cluttered regions of space. It concentrates especially on the latter topic, discussing many issues arising in the design of systems for looking around clutter and occlusions.

关键词： computer vision

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Automatic vision programs from predicted features

Automatic vision programs from predicted features

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intelligent robots and computer vision xI: Biological, Neural Net, and 3-D Methods

作者： Mulgaonkar, Prasanna G. Chen, Chien-Huei Modayur, Bharath SRI Int. Menlo Park CA USA

ISBN: (纸本)0819410276

techniques are presented for automatically generating optimal vision programs from high- level task descriptions. vision programs are the object models that describe strategies to recognize and locate objects in an image. The effectiveness of the program depends on the features used for recognition and the order in which the features are evaluated. We describe three probabilistic feature utility measures and a cost function based on program execution time that serve as the basis of our technique. Computation of such utility measures from a statistically representative sample of images has been demonstrated. Problems encountered in computing such measures from computer-generated images are described.

关键词： computer vision

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Kinematic calibration of a binocular head using stereo vision with the complete and parametrically continuous model

Kinematic calibration of a binocular head using stereo visio...

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intelligent robots and computer vision xI: algorithms, techniques, and Active vision

作者： Shih, Sheng-Wen Jin, Jia-Sheng Wei, Kuo-Hua Hung, Yi-Ping Inst. of Information Science and Natl. Taiwan Univ. Nanking Taipei 11529 Taiwan

ISBN: (纸本)0819410268

This paper describes the process of calibrating the kinematic model for an active binocular head having four revolute joints and two prismatic joints. We use the complete and parametrically continuous (CPC) model proposed by Zhuang and Roth in 1990 to model the motorized head (or camera positioning system), and use a closed form solution to identify its CPC kinematic parameters. The calibration procedure is divided into two stages. In the first stage, the two cameras are replaced by two end-effector calibration plates each having nine circles. The two removed cameras can be used to build a stereo vision system for observing the varying positions and orientations of the end-effector calibration plates when moving the joints of the head. The positions and orientations of the calibration plates, or equivalently, of the end-effectors, can be determined from the stereo measurements. The acquired data are then used to calibrate the kinematic parameters. In the second stage, the cameras are remounted to the IIS-head, and a method proposed by Tsai is used to calibrate the hand-eye relation. Once the above kinematics calibration is done, the binocular head can be controlled to gaze or track 3-D targets.

关键词： computer vision

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Integrating task-directed plaiming with reactive object recognition 12

Integrating task-directed plaiming with reactive object reco...

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intelligent robots and computer vision xII: algorithms and techniques 1993

作者： Dickinson, Sven Stevenson, Suzanne Amdur, Eugene Tsotsos, John Olsson, Lars Department of Computer Science University of Toronto 6 King's College Rd. TorontoONM5S1A4 Canada Computational Vision and Active Perception Laboratory Dept. of Numerical Analysis and Computing Science Royal Institute of Tecimology StockholmS-10044 Sweden

We describe a robot vision system that achieves complex object recognition with two layers of behaviors, performing the tasks of planning and object recognition, respectively. The recognition layer is a pipeline in which successive stages take in images from a stereo head, recover relevant features, build intermediate representations, and deposit 3-D objects into a world model. Each stage is an independent process that reacts automatically to output from the previous stage. This reactive system operates continuously and autonomously to construct the robot's 3-D model of the environment. Sitting above the recognition pipeline is the planner which is responsible for populating the world model with objects that satisfy the high-level goals of the system. For example, upon examination of the world model, the planner can decide to direct the head to another location, gating new images into the recognition pipeline, causing new objects to be deposited into the world model. Alternatively, the planner can alter the recognition behavior of the pipeline so that objects of a certain type or at a certain location appear in the world model. © 1993 SPIE.

关键词： Pipelines

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