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检索条件"任意字段=Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques"

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Object-oriented tool for controlling a multipurpose robot cell

Object-oriented tool for controlling a multipurpose robot ce...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Fidan, Ismail Ruff, Larry Derby, Stephen Rensselaer Polytechnic Inst. Troy NY USA

ISBN: (纸本)0819419524

As the piece cost of completed circuit boards increases and production quantities decrease, reworking of defective boards has become an important part of the production process. The lead-pitch of surface mount components has also been decreasing, which has required increased training and skill level of the rework operators. Fully-automated rework provides a solution to these problems. In order to simplify the control of automated rework of surface mount circuit boards from an operator's viewpoint, an Object-Oriented Tool was developed at Rensselaer for an automated rework cell that uses the Apple Macintosh Graphical Interface. The interface reduces operator skill and training requirements for the operation of the automated cell. This paper includes a description of the fully-automated rework cell created at Rensselaer and describes the Object-Oriented Tool development and its final structure.

关键词： robots

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Competitive stereo correspondence framework

Competitive stereo correspondence framework

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： El-Konyaly, El-Sayed H. Saraya, S. Atwa, Y. Mansoura Univ. El-Mansoura Egypt

ISBN: (纸本)0819419524

At the heart of the binocular stereo approach lies the task of stereo matching, i.e. solving for correspondences. Solving the correspondence problem accurately, reliably, and efficiently depends on the type of features used and the computational strategy employed. Similarity is the guiding principle for solution, with the premise that corresponding features will remain similar in the two images. Yet, because of factors such as noise, shadows, occlusions, and perspective effects, the appearance of the corresponding features will differ in the two images. Moreover, derivation of a matching primitive that contains adequate power to resolve ambiguities and is truly invariant with respect to the viewing geometries is a difficult task. This paper introduces a developed competitive stereo correspondence (CSC) framework that solves for these ambiguities. It is heuristic, iterative, and feature-based. Extensive experimentation is successfully carried out on real world scenes, of varying complexity, to evaluate the performance of CSC framework.

关键词： computer vision

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Omnidirectional vision applications for line following

Omnidirectional vision applications for line following

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Matthews, Bradley O. Perdue, David Hall, Ernest L. Univ. of Cincinnati Erie PA USA

ISBN: (纸本)0819419524

The purpose of this paper is to describe experimental studies on omnidirectional vision for the recognition and control of a mobile vehicle. The omnidirectional vision control technique described offers the advantage of an extremely wide angle field of view. This may be translated in practice to a machine which will not get lost when following a path, to a target locating system which can see both forward and backward, and generally helps the robot survive as a prey rather than as a predator. The wide angle of view permits a mobile robot to follow a curved path even around sharp corners, hairpin turns or other complicated curves. The disadvantage of the omnidirectional view is geometric distortion. This geometric distortion may be easily corrected after calibration to determine important parameters. An object recognition method was used that detects the largest target in a selected region of the field of view, and computes the centroid of this target. When two target points are detected, the algorithm calculates a projected 3D path for the robot. The distance and angle from this ideal path are then used to provide steering control for a mobile robot. The current application for this technique is a generic intelligent control device that is transportable from one mobile vehicle to another with changes only in system parameters rather than control architecture. The significance of this research is in showing how the geometric distortion can be compensated to permit an omnidirectional vision navigation control system for a mobile robot.

关键词： computer vision

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Feature extraction of articulated objects in an active vision environment

Feature extraction of articulated objects in an active visio...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Wang, Patrick S. Northeastern Univ. Boston MA USA

ISBN: (纸本)0819419524

This paper deals with feature extraction of 3D articulated objects in active vision environment, in which the object and/or the observer can move or rotate, while at the same time the articulated object itself can change status. An articulated object is divided into two portions: main rigid portion and articulated portion. It is more complicated than `rigid' object in that the relative positions, shapes or angles between the main portion and the articulated portion have essentially infinite variations, in addition to the infinite variations of each individual rigid portions due to orientations, rotations and topological transformations. A new method generalized from linear combination is employed to investigate such problems. It uses very few learning samples, and can describe, understand, and recognize 3D articulated objects while the objects status is being changed in an active vision environment.

关键词： Feature extraction

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Relationship between brightness, hue, and saturation when the inverted human retina is interpreted as a cellular diffractive 3D chip

Relationship between brightness, hue, and saturation when th...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Lauinger, Norbert Inst. of Optosensory Systems Wetzlar Ger

ISBN: (纸本)0819419524

The nonlinear relationship between brightness, hue and saturation in human vision becomes clear if, in addition to the pupil as brightness regulator, the inverted retina is interpreted as a cellular multilayer phase grating optical 3D chip, i.e. as a chromaticity and brightness regulator. Both regulators are optical information preprocessors which determine the signal input into the photoreceptors and thus represent the basis for subsequent electrical information processing in retinal neural networks. Data from the interference-optical 3D phase calculation (von Laue equation) are compared with experimental data on phenomena in human vision which are critical to this question, to show the interdependence of brightness, hue and saturation. This gives new insights into the function of the pupil, the Purkinje shift, the Bezold-Brucke phenomenon, the Stiles-Crawford aperture effects I/II and the saturation effects in human vision, all of which can be derived from a single pupil/retina/photopigment equation.

关键词： vision

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Integration of active vision and intelligent robotics for advanced material handling

Integration of active vision and intelligent robotics for ad...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Pretlove, John R. Chen, Nongji Univ. of Surrey Guildford Surrey UK

ISBN: (纸本)0819419524

This paper presents an intelligent robotic system consisting of a PUMA 562 industrial robot arm, a novel open architecture robot controller and an active vision system. The tight integration of these three sub-systems has resulted in a high performance robotic based workcell which is capable of tracking objects which are following complex 3D trajectories and intercepting them. This work has been carried out within the MSRR group and has been aimed at developing robot systems which can overcome workcell uncertainties. The active stereo vision systems is designed on mechatronic principles and is modular, light weight and highly controllable. This system is robot mounted and can determine the 3D position of objects in real-time. The active stereo vision system communicates with the open architecture robot controller via a transputer link. The robot controller is based around transputer architecture hosted by an OS-9 system. It provides easy integration of external sensors and offers wide user accessibility to the internal robot control modules. A series of tests have been undertaken and are reported here which demonstrate the functional integration of the active vision system and the robot controller. The vision system is capable of tracking moving objects and this information is used to update the current robot trajectory. These experiments demonstrate the vision system in full control of the robot during a tracking an intercept duty cycle. Our practical experience of using the system is also discussed together with out views of the future.

关键词： Materials handling

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Plane surfaces characterization by stereo vision and manipulation: a method to enhance assembly cell efficiency

Plane surfaces characterization by stereo vision and manipul...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Da Forno, Roberto Angrilli, Francesco Univ. di Padova Padova Italy

ISBN: (纸本)0819419524

This paper analyzes a strategy for characterization of plane surfaces using stereo vision and manipulation. Characterization involves three steps: definition of orientation (normal versor to the plane), definition of the figure center of mass and definition of a proper frame of reference solidal to such plane. When all these quantities are defined, the plane can be considered as characterized. In this work, plane orientation is obtained using stereo vision and structured light. The second step is solved by power manipulation, orienting the plane orthogonal to the camera focal axes to give the figure center of mass. The frame of reference solidal to the plane can now be placed as an example in the center of mass. In this work, kinematic analysis is fully developed, considering a robot with six degrees of freedom. The proposed method can be applied to enhance the efficiency of robotized assembly cells. The main problem in assembly is actually continuity in the dimension of assembled parts. Parts with working errors beyond a fixed limit can cause plant stoppage. The proposed method can be used to avoid this problem or at least to extend dimensional limits.

关键词： Stereo vision

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Approach to analyze a deformable moving target by using the shape deformation model and morphological operators

Approach to analyze a deformable moving target by using the ...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Wu, Weiguo Asai, Take Akatsuka, Takao Yamagata Univ. Yonezawa Jpn

ISBN: (纸本)0819419524

The measurement of the characteristic parameters for a moving object with deformation is often an important problem. Here, an approach to analyze the shape change of a ball, when it is kicked in soccer, is proposed by using a simple shape deformation model to evaluate the shape change from the image sequence. Moreover, to determine the parameters of the model which apply to actual ball deformation, the detection of ball is necessary, and the pattern spectrum based on morphological operators is considered. Here, we assume that the deformation surface of the ball is a circular arc, when it is kicked by foot, and the arc is always convex when it is observed from the kicking side. To obtain the parameters of the arc, the preprocessing of the ball image such as local binarization, the region filling and noisy smoothing with morphological operators, is performed from actual image sequence. In order to detect the ball, the pattern spectrum with morphological operators is measured, and then circumscribed circle of the ball is extracted. So, the center and radius of the ball from circumscribed circle and the arc of the deformation surface of the model are obtained. Finally, the characteristic parameters of a moving ball such as the deformation are measured by using the shape deformation model. To demonstrate the effect of this method, we show an application to extract the deformation of the ball in football for the actual sports skill training.

关键词： computer vision

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New methods of measuring and calibrating robots

New methods of measuring and calibrating robots

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Janocha, Hartmut Diewald, Bernd Univ. of the Saarland Saarbruecken Ger

ISBN: (纸本)0819419524

ISO 9283 and RIA R15.05 define industrial robot parameters which are applied to compare the efficiency of different robots. Hitherto, however, no suitable measurement systems have been available. ICAROS is a system which combines photogrammetrical procedures with an inertial navigation system. For the first time, this combination allows the high-precision static and dynamic measurement of the position as well as of the orientation of the robot end effector. Thus, not only the measuring data for the determination of all industrial robot parameters can be acquired. By integration of a new over-all-calibration procedure, ICAROS also allows the reduction of the absolute robot pose errors to the range of its repeatability. The integration of both system components as well as measurement and calibration results are presented in this paper, using a six-axes robot as example. A further approach also presented here takes into consideration not only the individual robot errors but also the tolerances of workpieces. This allows the adjustment of off-line programs of robots based on inexact or idealized CAD data in any pose. Thus the robot position which is defined relative to the workpiece to be processed, is achieved as required. This includes the possibility to transfer teached robot programs to other devices without additional expenditure. The adjustment is based on the measurement of the robot position using two miniaturized CCD cameras mounted near the end-effector which are carried along by the robot during the correction phase. In the area viewed by both cameras, the robot position is determined in relation to prominent geometry elements, e.g. lines or holes. The scheduled data to be compared therewith can either be calculated in modern off-line programming systems during robot programming, or they can be determined at the so-called master robot if a transfer of the robot program is desired.

关键词： robots

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Enhanced multiprobing recovering algorithm based on color mixed nonlinear modulation and its application in a 3D vision system

Enhanced multiprobing recovering algorithm based on color mi...

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intelligent robots and computer vision XIV: algorithms, techniques, Active vision, and Materials Handling

作者： Xu, Z. Heinol, Horst G. Schwarte, Rudolf Loffeld, Otmar Univ. Siegen Siegen Ger

ISBN: (纸本)0819419524

The paper introduces a fast and enhanced recovering algorithm and its application in an active 3D-color vision system. The algorithm is based on the processing of several non-linearly modulated optical test signals of different colors. The processing approach arises from minimizing errors caused by using non-linear modulators in an active vision system, i.e., recovering 3D properties from higher order terms of a Fourier series expansion of the non-linear modulation. Two aspects are worth mentioning: Firstly, the modulation depth of non-linear optical components such as Pockels cells can be exploited much beyond the linear region if assisted by the appropriate recovering algorithm and thus increasing the effective aperture of the optical system. Secondly, the same algorithm can be adaptive to a synthetic non-linear modulation, i.e., the various incoherent signals used as color probes are synchronously modulated each with different characterizing rf signals by means of corresponding optical modulators. These signals are then further incoherently superposed in the transmission medium. After having been reflected from and interacted with the object of interest, the selectively attenuated signals are demodulated using a single modulator. In this process phase, color and other information are simultaneously demodulated. Therefore a single black-white CCD camera may be utilized to sample the 2D-rf interferograms, which are fast and analytically processed by the proposed algorithm in order to extract 3D ranges, colors, and other properties of the interesting object.

关键词： computer vision

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