In this paper, we present a low-cost vision based system for handling of hazardous waste in an unstructured environment. The prototype system described shows the feasibility of sorting and removal of randomly mixed an...
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ISBN:
(纸本)0819423068
In this paper, we present a low-cost vision based system for handling of hazardous waste in an unstructured environment. The prototype system described shows the feasibility of sorting and removal of randomly mixed and oriented flexible objects from a bin using inexpensive and widely available hardware. Our experiments show that the utilization of even the simplest constructs is sufficient for the manipulation of flexible objects.
Specifications and design are provided for a low-cost scatterometer build to study the relationship between optical scatter and image formation. Design principles and considerations are discussed as they relate to dig...
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ISBN:
(纸本)0819423068
Specifications and design are provided for a low-cost scatterometer build to study the relationship between optical scatter and image formation. Design principles and considerations are discussed as they relate to digital imaging. Specifications and instrument limitations both mechanical and optical are examined and certain design choices are explained. The process of calibrating the instrument is considered and methods of noise suppression both electronic and optical are discussed. Finally, some measured data is presented.
We consider two problems: first, the problem of detection of objects in images of 3D planetary terrain; second, the task of finding corresponding points for stereo matching of this type of images. We propose an approa...
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ISBN:
(纸本)0819423068;9780819423061
We consider two problems: first, the problem of detection of objects in images of 3D planetary terrain; second, the task of finding corresponding points for stereo matching of this type of images. We propose an approach that is simultaneously applicable to both problem areas. The approach uses a bank of filters based on different 2D Gabor functions. By detection we mean locating multiple classes of targets with distortions present and in a cluttered background. It is desirable to minimize false alarms due to clutter, image noise, and the presence of other objects. In the scenario of stereo matching, the pixel location where we search for the corresponding point is the target, while all ambiguous matches are non-targets. In this work, we use Gabor filter banks in two versions. First, for fast detection of targets, the single filter outputs of the bank are fused by linear combination. Second, for stereo matching, the outputs of the filters form a feature vector used to find the best match. We refer to both types of filters as a macro Gabor filter. In the linear combination case, the filter bank forms a single filter. This filter is correlated with an input image, followed by local maximum detection, and thresholding to yield the finally detected targets. The new aspects are: combining real and imaginary parts of GFs into one filter using centered on off-center GFs, separately optimizing the fusion coefficients of the GFs by controlling the shape of the correlation outputs of each filter alone, and the application to two different scenarios.
Robust range estimation is one of the most important tasks in mobile robotics. This paper presents a new optical arrangement for utilizing the previously known 'depth from defocus' principle. The arrangement m...
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ISBN:
(纸本)0819423068
Robust range estimation is one of the most important tasks in mobile robotics. This paper presents a new optical arrangement for utilizing the previously known 'depth from defocus' principle. The arrangement makes it possible to apply standard video lenses and camera modules for making a compact range camera system. Real-time processing is made possible with a single-board DSP card.
An automatic raw material selector into 3-4 groups depending on the crystal shape is developed. As signs of selection there are used dimensions of the crystal image, position of the image center in the bearing plan as...
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ISBN:
(纸本)0819423068
An automatic raw material selector into 3-4 groups depending on the crystal shape is developed. As signs of selection there are used dimensions of the crystal image, position of the image center in the bearing plan as well as dimensions and proportion of two interperpendicular chords crossing the image center. The device sorts out into 3-4 groups 8 crystals per second.
This paper describes the use of color segmentation to assist the detection of blemishes and other defects on fruit. It discusses the advantages and disadvantages of different color spaces including RGB and HSI and dif...
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ISBN:
(纸本)0819423068
This paper describes the use of color segmentation to assist the detection of blemishes and other defects on fruit. It discusses the advantages and disadvantages of different color spaces including RGB and HSI and different supervised learning techniques including maximum likelihood, nearest neighbor and neural networks. It then compares the performance of various combinations of these on the same training and test set. A selection of images segmented by the best combination is presented and conclusions made.
Current developments in the field of automated assembly systems show an increasing interest in systems that are flexible in both CAD based product design and CAD based assembly. For the application addressed in this p...
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ISBN:
(纸本)0819423068
Current developments in the field of automated assembly systems show an increasing interest in systems that are flexible in both CAD based product design and CAD based assembly. For the application addressed in this paper, coupling the vision system and a CAD database is of prime importance in order to achieve the required automatic reconfiguration of the assembly cell when new parts are defined. This paper presents a 3D CAD-based vision system for obtaining 3D data about the scene. After the images are acquired, edge detection is preformed and the detected edges are stored as chaincodes. Following that, a stereo vision algorithm is applied for finding the recognition features. The output are lists of features that are combined into a 3D wireframe representing the scene. The recognition algorithm takes the observed wireframe outputs from the stereo vision system, and compares them with a set of model wireframes derived from previous models, in order to select the 'best match', where the previous models used for recognition are derived from a product data model (PDM). The PDM is an interface between the CAD database and the recognition system, which allows the automatic generation of new models when new parts are introduced into the system. The vision system described in this paper is part of an intelligent robotic assembly cell, where the aim is to build a flexible intelligent robotic assembly cell, such that robots would be able to automatically assemble a random variety of small-batch products.
This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a C...
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ISBN:
(纸本)0819423068
This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.
In this paper, steps of the physically-based modeling technique are revisited. Proposals for enhancing computational burden are implemented. Force derived from the distance between the model profile and the object pro...
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ISBN:
(纸本)0819423068
In this paper, steps of the physically-based modeling technique are revisited. Proposals for enhancing computational burden are implemented. Force derived from the distance between the model profile and the object profile has proven sufficient for shape recovery purposes while the speed of the fitting process is reduced dramatically. In order to give machines the ability to detect surface irregularities as well as their sizes, a threshold potential function force is applied to excite the surface nodal mesh with good time requirements. Implementation details as well as sample examples are introduced.
Knowledge of the bidirectional optical scatter function of surfaces comprising a 2D scene is used to predict and optimize characteristics of a digitally captured image of the scene. Mathematical expressions that descr...
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ISBN:
(纸本)0819423068
Knowledge of the bidirectional optical scatter function of surfaces comprising a 2D scene is used to predict and optimize characteristics of a digitally captured image of the scene. Mathematical expressions that describe certain image properties including contrast, brightness, glare, etc., are developed from the scatter functions. It is these mathematical expressions that are maximized or minimized with respect to a set of coordinates used to describe the orientation of a collimated light source and imaging system relative to the scene. In this way, it is shown how illumination can be analytically prescribed to attenuated or accentuated certain properties of digital images without the trial-and-error procedure currently in practice.
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