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

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Contours interpolation using `snake' application to 3D reconstruction from scanner images

Contours interpolation using `snake' application to 3D recon...

引用

intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Dufrenois, Franck Taleb-Ahmed, A. St. Michel, T. Dubus, J.P. Deleume, J.F. Caparros-Lefebvre, D. Univ. des Sciences et Techniques de Lille-Flandres-Artois Villeneuve d'Ascq France

ISBN: (纸本)0819416894

One of the main problems in a 3D computer-aided reconstruction lies in the fact that the obtained result depends on the cross sections acquisition way. If the interslice distance between successive contours is greater than the in-plane resolution, we can generate a coarse representation of the physical scanned object. In this paper, we present an elastic contour interpolation scheme to refine 3D object reconstruction from serial cross sections.

关键词： computer vision

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Object identification employing surface markings

Object identification employing surface markings

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Ellis, Timothy J. Dommes, Thierry City Univ. London United Kingdom

ISBN: (纸本)0819416894

The majority of vision-based recognition systems currently employ geometric methods for matching extracted image primitives with a three-dimensional representation of an object, e.g. a CAD model. Such systems typically assume that each object will be discernibly different, hence ensuring unique recognition. However, in many situations, the geometry of the objects may be identical (e.g. drinking mugs on a shelf, packets on a supermarket shelf), but a particular object may only be distinguished by the patterns or markings on its surface. Such surface markings may be described, for example, by simple vector-based graphical primitives (lines, curves, text) or a pixel-based image representation. These descriptions are considered to be `painted' onto the model object surface. This paper considers several algorithms that may be used to extract and match surface-based primitives to model objects stored in a database;how the different surface descriptions may be represented in a model-based system;and the integration of these into a system to match appropriate descriptions of surface markings in order to achieve recognition. Results of applying these algorithms to a set of exemplar images are presented.

关键词： computer vision

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Intensity-based stereo vision: from 3D to 3D

Intensity-based stereo vision: from 3D to 3D

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Wang, Zeng F. Ohnishi, Noboru The Inst. of Physical and Chemical Research Nagoya Japan

ISBN: (纸本)0819416894

In this paper, we present a new intensity based technique for recovering depth information from two or more images. Our method uses planar patches to approximate 3-D surfaces. In order to recover the depth information, the view-line constraint and the imaging geometry are introduced. The view-line constraint is used to restrict the position of a planar patch. From the constraint we can get the candidates of the corresponding planar patch. The imaging geometry will then help us to find the best estimation from the candidates. A hypothesis and verification based optimization procedure is used. We project each candidate of the planar patch perspective onto the observed images, and calculate the intensity difference between the projected image and the observed images. The candidate which has the best fitting with the observed data is selected as the solution. This method is different from the traditional stereo algorithms because it does not require us to solve the corresponding problem.

关键词： computer vision

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Laser triangulation technique for textured surface shape analysis in industrial applications

Laser triangulation technique for textured surface shape ana...

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Carvalho, Fernando D. Davies, Roger Dinis, Joao Malta, C.A. Guedes, Antonio S. Silva, J.F. INETI Lisboa Portugal

ISBN: (纸本)0819416894

This paper describes a laser triangulation system that has been developed by the authors and integrated into a machine that manufactures cork stoppers automatically. The system is based on a solid state laser that projects a set of parallel lines onto the surface of the raw cork material. The three-dimensional shape of the surface is extracted through the analysis of an image obtained from a standard monochrome video camera of the lines of laser light. Special algorithms were developed to overcome image degradation caused by the uneven illumination intensity of the laser lines and by irregularities and roughness of the surface itself. The complete vision system incorporating this development is presented. It is responsible for the inspection of the cork surface, detection of relevant defects and the generation of a punching pattern to produce the stoppers. This pattern is then transmitted to the punch mechanism. The machine allows objective quality control constraints to be applied and decreases the amount of waste produced when compared with the manual method of producing cork stoppers. A fully functioning prototype of the machine has been built and successfully tested and other applications for the laser triangulation system technique are being considered.

关键词： computer vision

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Phase-shifting digital projection system for surface profile measurement

Phase-shifting digital projection system for surface profile...

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Chan, Chi-Shing Asundi, Anand K. Univ. of Hong Kong Tin Shui Wai Hong Kong

ISBN: (纸本)0819416894

In many industrial applications, non-contact and non-destructive surface profile measurements are frequently required. The projection grid method is one of the available methods that fulfills the above needs. It is based on the principle of triangulation, hence simple in computation. It has the advantage of full field measurement without any scanning optics. To increase the sensitivity, phase shifting techniques are incorporated. It improves the sensitivity to 1/100th of a fringe. However an accurate positioning device is required to shift the grating. Traditional systems use mechanical devices, for example a translation stage, to perform the shifting. Due to hysteresis, backlash and wear, inaccurate shift such as unequal or incomplete shift often results leading to undesirable errors. This paper describes a phase shifting digital projection system that solves the above problem. The conventional physical grating is replaced by a computer generated grating. A computer generated grating is projected onto the test object via an LCD projector. Complete shifting of grating is performed by computer software. Besides the system is very flexible. It has the advantage of variable type and pitch of grating. In this paper, the system hardware is described in detail, followed by a performance analysis and experiments.

关键词： computer vision

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Steering a mobile robot in real time

Steering a mobile robot in real time

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Chuah, Mei C. Fennema, Claude L. Mount Holyoke Coll. South Hadley MA United States

ISBN: (纸本)0819416894

Using computer vision for mobile robot navigation has been of interest since the 1960s. This interest is evident in even the earliest robot projects: at SRI International (`Shakey') and at the Stanford University (`Stanford Cart'). These pioneering projects provided a foundation for late work but fell far short of providing real time solutions. Since the mid 1980s, the ARPA sponsored ALV and UGV projects have established a need for real time navigation. To achieve the necessary speed, some researchers have focused on building faster hardware;others have turned to the use of new computational architectures, such as neural nets. The work described in this paper uses another approach that has become known as `perceptual servoing.' Previously reported results show that perceptual servoing is both fast and accurate when used to steer vehicles equipped with precise odometers. When the instrumentation on the vehicle does not give precise measurements of distance traveled, as could be the case for a vehicle traveling on ice or mud, new techniques are required to accommodate the reduced ability to make accurate predictions about motion and control. This paper presents a method that computes estimates of distance traveled using landmarks and path information. The new method continues to perform in real time using modest computational facilities, and results demonstrate the effects of the new implementation on steering accuracy.

关键词： Mobile robots

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Tracking range discontinuities in dynamic scenes: smart-range camera

Tracking range discontinuities in dynamic scenes: smart-rang...

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intelligent robots and computer vision XIII: 3D vision, Product Inspection, and active vision

作者： Blomquist, Mats Wernersson, Ake V. Lulea Univ. of Technology Lulea Sweden

ISBN: (纸本)0819416894

The problem studied in this paper is algorithms for fast and reliable extraction of range discontinuities in dynamic scenes. The application is to control the motion of a robot using a range scanning sensor. When estimating the pose of the objects in a scene, it is obvious that range discontinuities and flat surfaces have the largest information content. The concept studied consists of a smart camera chip together with a scanning illuminating laser. Feedback loops are closed between the chip and the scanning laser so as to follow along different types of range discontinuities in the scene. More explicitly: (1) Two types of feedback laws are outlined so as to track along range discontinuities both with and without occlusion. (2) The laser can also track along a `generalized cylinder,' say, a cable free in space or laying on an uneven surface. (3) The tracking accuracy is estimated as the laser follows along the `curve of discontinuity.' The results are too preliminary and are not in this paper. In an earlier study, the Hough transform was found to be very robust in extracting the coordinates of planar surfaces. The edge parameters in this study are thus complementary to these surface parameters. Compared with complete range scanning of the entire scene, it seems possible to gain at least one order of magnitude in speed. This is important since these extracted range features are inside the feedback loop of the robot.

关键词： computer vision

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intelligent robot-based dynamic weighing system

Intelligent robot-based dynamic weighing system

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intelligent robots and computer vision XIII: algorithms and computer vision

作者： Balachandran, Wamadeva Enab, Yehia M. Halimic, M. Tariq, M. Univ. of Surrey Guildford Surrey UK

ISBN: (纸本)0819416886

A robot based intelligent system is proposed and used to improve the accuracy and throughput rate of a dynamic checkweigher. Classical filtering techniques as well as some other signal processing techniques provide certain improvements in the accuracy and the effect of high frequency noise in a conventional checkweigher. A large amount of inaccuracy from system low frequency components still remains. The developed system includes a fuzzy controller for the weighing cell which is an essential pat of many static and dynamic systems used for weighing. The system also includes a robot arm for package handling through the weighing process to reduce the effect of the low frequency noise (0 - 10 HZ) associated with the conveyor belt systems in the conventional checkweighers. A motion planning for the robot arm is investigated to satisfy the safety requirements for the packages and robot arm and to enhance the throughput rate of the overall system. The use of such intelligent systems for weighing and transport overcome the nonlinearity problems associated with the system and reduces greatly the noise effect in conventional checkweighers. The experimental results are introduced an analyzed to investigate the efficiency of the developed system.

关键词： Weighing

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Path following control of a mobile robot

Path following control of a mobile robot

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IEEE International Conference on Industrial Technology (ICIT)

作者： Zhongbin Liu H. Hashmoto Ren Luo F. Harashima Qian Li Institute of Industrial Science University of Tokyo Tokyo Japan Tokyo Daigaku Bunkyo-ku Tokyo JP Tokyo Univ. Japan Institute ofIndustrial Science University of Tokyo Tokyo Japan Department of Electrical Engineering Northwest Institute of light Industry China

A manipulator attached to an autonomous mobile service robot is being developed to provide a test-bed for research on many topics in this field. The robot, equipped with multiple sensors such as stereo vision, ultrasonic sensors, infrared sensors and CCD cameras, is expected to navigate in an indoor or in-building environment automatically and positioning to the desired destination. Two arms mounted on the mobile robot base will be able to manipulate the object coordinately. The whole system is built up hierarchically by 2 sections: the decision-making high level and mobile slave low level. Not using a common velocity controller based driving, this robot base was mounted with a hardware numerical position servo controller which may take great burden from the computer and let it pay much attention to thinking or decision-making intelligently. When working in active mode, the robot base itself can also navigate autonomously without high level. The design objectives, real development and step-motion concept on trajectory control of the mobile robot base are introduced. Three kinds of recursive trajectory control algorithms are proposed and confirmed by experiments. Comparison of their characters is also discussed.< >

关键词： Mobile robots Robot kinematics Infrared sensors Manipulators Robot vision systems Navigation Decision making Velocity control intelligent robots Service robots

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

Intelligent Robots and Computer Vision XI: Algorithms, Techn...

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

ISBN: (纸本)0819410268

The conference materials contain 71 papers. The main topics covered include pattern recognition in computer vision;locating edges, lines curves, and surfaces in robotic vision;segmentation, motion, and color techniques;morphological processing for intelligent robotics;sensory robotics and control: vision, collision avoidance, path planning;visual servoing in automated manufacturing;and active vision.

关键词： intelligent robots

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