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

共 723 条记录，以下是321-330 订阅

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vision system and three dimensional modeling techniques for quantification of the morphology of irregular particles

Vision system and three dimensional modeling techniques for ...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Smith, LN Smith, ML Univ W England Fac Engn Bristol BS16 1QY Avon England

ISBN: (纸本)0819438626

Particulate materials undergo processing in many industries, and therefore there are significant commercial motivators for attaining improvements in the flow and packing behavior of powders. This can be achieved by modeling the effects of particle size, friction, and most importantly, particle shape or morphology. The method presented here for simulating powders employs a random number generator to construct a model of a random particle by combining a sphere with a number of smaller spheres. The resulting 3D model particle has a 'nodular' type of morphology, which is similar to that exhibited by the atomized powders that are used in the bulk of powder metallurgy (PM) manufacture. The irregularity of the model particles is dependent upon vision system data gathered from microscopic analysis of real powder particles. A methodology is proposed whereby randomly generated model particles of various sizes and irregularities can be combined in a random packing simulation. The proposed Monte Carlo technique would allow incorporation of the effects of gravity, wall friction, and inter-particle friction. The improvements in simulation realism that this method is expected to provide would prove useful for controlling powder production, and for predicting die fill behavior during the production of PM parts.

关键词： particle morphology powder simulation vision analysis

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Adaptive visual tracking of moving object with neural-PID controller

Adaptive visual tracking of moving object with neural-PID co...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Zhu, LC Fujimoto, H Sano, A Yamakawa, S Nagoya Inst Technol Dept Syst Engn Showa Ku Nagoya Aichi 4668555 Japan

ISBN: (纸本)0819438626

In this paper, an adaptive approach is presented to nonlinear system for real-time robotic visual tracking of a moving polyhedral object. A light stripe vision system consists of a laser-stripe sensor and a CCD camera fixed to robot end-effector, and projects planar light on the polyhedral object. The geometric conditions can be provided to assure location of features of the polyhedral faces. The objective is to predict the location of features of the object on the image plane based on the light stripe vision system and then to determine an optimal control input that will move the camera so that the image features align with their desired positions. We first give the equations of observation and state-space by using the motion rules of the camera and the object. Then, the system can be represented as an MIMO ARMAX model and an efficient estimation model. The estimation model can process on-line estimation of the 3D related parameters between the camera and the object. Those parameters are used to calculate the system sensitivity of a neural network. The control scheme adopts a neural-PID controller that can adjust the PID controller parameters. The paper concludes with the simulation results and the computer simulation shows that the proposed method is effective to visual tracking of combining vision and control.

关键词： adaptive visual tracking neural-PID control nonlinear system light stripe vision system optical flow

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techniques for fisheye lens calibration using a minimal number of measurements

Techniques for fisheye lens calibration using a minimal numb...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Mundhenk, TN Rivett, MJ Liao, XQ Hall, EL Univ Cincinnati Ctr Robot Res Dept Mech Ind & Nucl Engn Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

A method is discussed describing how different types of Omni-Directional "fisheye" lenses can be calibrated for use in robotic vision. The technique discussed will allow for full calibration and correction of x,y pixel coordinates while only taking two uncalibrated and one calibrated measurement. These are done by finding the observed x,y coordinates of a calibration target. Any Fisheye lens that has a roughly spherical shape can have its distortion corrected with this technique, Two measurements are taken to discover the edges and centroid of the lens. These can be done automatically by the computer and does not require any knowledge about the lens or the location of the calibration target. A third measurement is then taken to discover the degree of spherical distortion, This is done by comparing the expected measurement to the measurement obtained and then plotting a curve that describes the degree of distortion. Once the degree of distortion is known and a simple curve has been fitted to the distortion shape, the equation of that distortion and the simple dimensions of the lens are plugged into an equation that remains the same for all types of lenses. The technique has the advantage of needing only one calibrated measurement to discover the type of lens bring used.

关键词： onmi vision fisheye circular regression correction distortion nikon

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Examples of design and achievement of vision Systems for mobile robotics applications

Examples of design and achievement of Vision Systems for mob...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Bonnin, PJ Cabaret, L Raulet, L Hugel, V Blazevic, P M'Sirdi, NK Coiffet, P Lab Robot Paris F-78140 Velizy France

ISBN: (纸本)0819438626

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications :wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions: indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory, We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9 CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a single FPGA.

关键词： vision systems robots controlled by vision hardware implementation of vision algorithms

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Flexible workobject localization for CAD-based robotics

Flexible workobject localization for CAD-based robotics

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intelligent robots and computer vision XXI: algorithms, techniques, and active vision

作者： Sallinen, Mikko Heikkila, Tapio VTT Automation Oulu Finland

In this paper a method to locate workobjects with splined surfaces and estimate the spatial uncertainties of the estimated parameters is presented. The reference B-spline surface patch is selected from a workobject CAD-model and is defined in the form of control vertices. The process includes the hand-eye calibration of the sensor, determination of the workobject localization and surface treating, e.g. inspection. The hand-eye calibration and workobject localization are carried out using the Bayesian form estimation with sensor fusion. Use of the recursive sensor fusion method makes calibration more flexible and accurate in handling large data sets. The spatial uncertainties in the form of eigenvalues in the direction of the eigenvectors are analyzed from the error covariance matrices of the estimated parameters.

关键词： computer vision

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Towards a vision system for blinds

Towards a vision system for blinds

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Pissaloux, EE Bouayed, H Abdallah, S Univ Rouen Fac Sci F-76821 Mt St Aignan France

ISBN: (纸本)0819438626

This paper addresses design principles and definition of a non-invasive vision system assisting blinds in their dispalcements in non-cooperating environment The global environment perception and understanding is a a key problem for such systems. The optical vision is one of sense providing the global information on nearest environment;its association with convenient global environment representation transmitted to blinds via tactile interface allows blinds to locate all moving and fixed obstacles. Adding vision sensor to electronic travel aid (ETA) for blinds increases blinds autonomy, helps them to orient and move in safety in 3D environment. The announced principles for vision-based ETA can be easily transposed to any robotics, and especially humanoids, vision system.

关键词： electronic travel aids (ETA) vision system design scene analysis image understanding robotics systems

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Survey of robot lawn mowers

Survey of robot lawn mowers

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intelligent robots and computer vision XXI: algorithms, techniques, and active vision

作者： Hicks II, Rob Warren Hall, Ernest L. Univ of Cincinnati Cincinnati United States

Lawn mowing is considered by many to be one of the most boring and tiring routine household tasks. It is also one of the most promising personal robot applications. Several devices have now been invented and some manufactured products are available for lawn mowing. The purpose of this paper is to survey the state of the art in robotic lawn mowers to highlight the requirements and capabilities of current devices. A brief survey of available robot products, typical patents and some testbed prototypes are presented. Some enabling technologies which could make the devices more capable are also suggested. Some predictions indicate that the robot lawn mower will be the breakthrough device in robotics. The significance of this research lies in the presentation of an overview of a potential major market for personal robots.

关键词： Mobile robots

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Color space conversion for linear color grading

Color space conversion for linear color grading

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Lee, DJ AGRI TECH Inc Woodstock VA 22664 USA

ISBN: (纸本)0819438626

Color grading is an important process for various industries such as food processing, fruit and vegetable grading, etc. Quality and price are often determined by the color of product. For example, darker red color for apples means higher price. In color machine vision applications, image is acquired with a color CCD camera that outputs color information in three channels, red, green, and blue. When grading color, these three primary colors must be processed to determine the color level for separation. A very popular color space conversion technique for color image processing is RGB-to-HSI, where HSI represents hue, saturation and intensity, respectively. However, the conversion result is still three-dimensional information that makes determining color grades very difficult. A new color space conversion technique that can be implemented for high-speed real-time processing for color grading is introduced in this paper. Depending on the application, different color space conversion equations must be used. The result of this technique is a simple one-dimensional array that represents different color levels. This linear array makes linear color grading adjustment possible.

关键词： machine vision color space conversion color sorting color grading

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Knowledge & vision engines: A new generation of image understanding systems, combining computational intelligence methods and model-based knowledge representation and reasoning

Knowledge & vision engines: A new generation of image unders...

引用

Conference on intelligent robots and computer vision XIX: algorithms, techniques, and active vision

作者： Kuvychko, I

ISBN: (纸本)0819438626

vision is a part of a larger informational system that converts visual information into knowledge structures. These structures drive vision process, resolving ambiguity and uncertainty via feedback, and provide image understanding, that is an interpretation of visual information in terms of such knowledge models. The solution to Image Understanding problems is suggested in form of active multilevel hierarchical networks represented dually as discrete and continuous structures. Computational intelligence methods transform images into model-based knowledge representation. Certainty Dimension converts attractors in neural networks into fuzzy sets, preserving input-output relationships. Symbols naturally emerge in such networks. Symbolic Space is a dual structure that combines closed distributed space split by the set of fuzzy regions, and discrete set of symbols equivalent to the cores of regions represented as points in the Certainty dimension. Model Space carries knowledge in form of links and relations between the symbols, and supports graph, diagrammatic and topological operations. Composition of spaces works similar to M. Minsky frames and agents, Gerard Edelman's "maps of maps", etc., combining machine learning, classification and analogy together with induction, deduction and other methods of higher level model-based reasoning. Based on such principles, an Image Understanding system can convert images into knowledge models, effectively resolving uncertainty and ambiguity via feedback projections and does not require supercomputers.

关键词： image understanding spatial turing machine computational intelligence knowledge & vision engines

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Detection and avoidance of simulated potholes in autonomous vehicle navigation in an unstructured environment

Detection and avoidance of simulated potholes in autonomous ...

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intelligent robots and computer vision XXI: algorithms, techniques, and active vision

作者： Karuppuswamy, Jaiganesh Selvaraj, Vishnuvardhanaraj Ganesh, Meyyappa Murugappa Hall, Ernest L. Univ of Cincinnati Cincinnati United States

The detection and avoidance of simulated potholes in an autonomous vehicle's path is discussed. A non-contact vision approach in an unstructured environment was utilized for detection. The environment signals were captured by the vehicle's vision system. The brightness threshold to determine pothole's field of view was estimated by a histogram.

关键词： Mobile robots

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