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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511-520 订阅

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Line following for a mobile robot

Line following for a mobile robot

引用

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

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

ISBN: (纸本)0819419524

A mobile robot has been designed which incorporates line following, obstacle avoidance and speed control. The line following algorithm images two windows and locates the centroid of the brightest target in the window. From these two centroids and the knowledge that the points are in the ground plane, the equation of the line is developed. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. This robot was designed for the 1995 Automated Unmanned Vehicle Society/Society of Automotive Engineers contest and won first place in the design competition.

关键词： Mobile robots

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Accuracy of determination of minor-sized landmarks on the rise of anomalous dimensions

Accuracy of determination of minor-sized landmarks on the ri...

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

作者： Martichevsky, Yuri V. Tomsk State Acad. of Control Systems and Radioelectronics Tomsk Russia

ISBN: (纸本)0819419524

This causes distortion or no-signal condition and, as a result, deterioration of the accuracy while determining the reference point coordinates. The device performance by isolated CCD defects as well as by no-signal states in the frame under detection has been investigated. The device has been connected in two-processor circuit: the video-signal processor and the tracking processor implemented in the liner Kalman Filter. The numeric results have been obtained by full-scale modeling of the PC device, by the data accession speed 25 Hz, CCD dimensions 256 × 256 pixels and the track including the deterministic and random components.

关键词： computer vision

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Real time active visual reconstruction using the synchronous paradigm

Real time active visual reconstruction using the synchronous...

引用

1995 IEEE/RSJ International Conference on intelligent robots and Systems - Human Robot Interaction and Cooperative robots

作者： MARCHAND, E CHAUMETTE, F RUTTEN, E UNIV RENNES 1 INRIA RENNESIRISAF-35042 RENNESFRANCE

ISBN: (纸本)0780330064

In this paper, we apply the synchronous approach to real time active visual reconstruction. It illustrates the adequateness of SIGNAL, a synchronous data flow programming language, for the specification of a system dealing with various domains such as robot control, computer vision and the programming of hierarchical parallel automata. More precisely, our application consists in the 3D structure estimation of a set of geometrical primitives using a camera mounted on the end effector of a six dof robot. At the level of camera motion control, the visual servoing approach is specified and implemented in SIGNAL as a function from sensor inputs to control outputs. The 3D reconstruction method is based on the `structure from controlled motion' approach. Its specification is made in parallel to visual servoing. We also present a perception strategy for connecting up several estimations, using time intervals and hierarchical structures for task preemption in SIGNAL. The integration of these techniques is validated experimentally by their implementation on a robotic cell.

关键词： computer vision

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Ultrasonic perception of mobile robots: a comparison of competition neural network and feedforward neural network techniques for sensor array signal processing

Ultrasonic perception of mobile robots: a comparison of comp...

引用

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

作者： Chen, J. Van Campenhout, Jan M. State Univ. of Ghent Gent Belg

ISBN: (纸本)0819419524

For truly intelligent behavior of a mobile robot, the important ask is to make the mobile robot to understand its environment. For this reason a certain measurement device must be installed in the mobile robot. In our system we make use of a tri-aural sensor array to observe the robot environment. The tri-aural sensor array is composed of three ultrasonic sensors placed on a line. The central sensor is used as transmitter as well as receiver, the two peripheral ones are used only as receivers. By using this device, the robot can get some environment information which is represented by the reflected echoes from the objects in the sensor field. From the sampled information, the robot has to determine the number of objects as well as their positions (distance and bearing) in the sensor field. How to process these sensor array signals is our principal problem. We have developed two neural network techniques for solving this problem, one is based on a competition neural network and another based on a multi-layer feedforward neural network. In this paper, we first describe the correspondence problem in realistic circumstances and then we briefly introduce both neural network techniques. Finally we compare both methods by using simulation data.

关键词： Mobile robots

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Omnidirectional vision applications for line following

Omnidirectional vision applications for line following

引用

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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Competitive stereo correspondence framework

Competitive stereo correspondence framework

引用

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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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...

引用

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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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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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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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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