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

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Artificial Intelligence for Robotics: Build intelligent robots using ROS 2, Python, OpenCV, and AI/ML techniques for real-world tasks

引用

2024年

作者： Francis X. Govers III Dr. Kamesh Namuduri

Let an AI and robotics expert help you apply AI, systems engineering, and ML concepts to create smart robots capable of interacting with their environment and users, making decisions, and navigating autonomouslyKey Fe...

ISBN: (数字)9781805124399

Key Features

Gain a holistic understanding of robot design, systems engineering, and task analysis
Implement AI/ML techniques to detect and manipulate objects and navigate robots using landmarks
Integrate voice and natural language interactions to create a digital assistant and artificial personality for your robot
Purchase of the print or Kindle book includes a free PDF eBook

Book Description

Unlock the potential of your robots by enhancing their perception with cutting-edge artificial intelligence and machine learning techniques. From neural networks to computer vision, this second edition of the book equips you with the latest tools, new and expanded topics such as object recognition and creating artificial personality, and practical use cases to create truly smart robots. Starting with robotics basics, robot architecture, control systems, and decision-making theory, this book presents systems-engineering methods to design problem-solving robots with single-board computers. You"ll explore object recognition using YOLO and genetic algorithms to teach your robot to identify and pick up objects, leverage natural language processing to give your robot a voice, and master neural networks to classify and separate objects and navigate autonomously, before advancing to guiding your robot arms using reinforcement learning and genetic algorithms. The book also covers path planning and goal-oriented programming to prioritize your robot"s tasks, showing you how to connect all software using Python and ROS 2 for a seamless experience. By the end of this book, you"ll have learned how to transform your robot into a helpful assistant with NLP and give it an artificial personality, ready to tackle real-world tasks an

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Integration of edge and region based techniques for range image segmentation

Integration of edge and region based techniques for range im...

引用

intelligent robots and computer vision IX: algorithms and techniques

作者： Al-Hujazi, Ezzet H. Sood, Arun K. Wayne State Univ Detroit United States

Range images incorporate 3-D surface coordinates of a scene and are well suited for a variety of vision applications. For tasks, such as 3-D object recognition, a representation of the object(s) present in the image is derived and then matched with stored models to determine the object(s) identity. Surface based representation is the most widely used representation in range image analysis. To generate surface based representation of an object, a segmentation of the object into a number of surfaces is needed. In this paper we present an approach for the segmentation of range images into a number of surfaces that, in turn, can be used to generate surface based representation. The approach integrates both edge detection and region growing techniques to achieve the segmentation. We start by detecting jump edges. Jump edge map is processed and regions surrounded by jump edges are isolated. Next, fold edges are detected iteratively using normals and residual. Fold edge map is processed to obtain the final segmented image. Jump and fold edge maps are processed using a Bayesian approach. The apriori knowledge is modeled using Markov Random Field. For jump edges we have used a coupled line and depth process. For fold edges we have combined line, residuals and normals to process the fold edge map. The performance of the algorithm on a number of range images is presented.

关键词： Image Processing

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Facet model and mathematical morphology for surface characterization

Facet model and mathematical morphology for surface characte...

引用

Proceedings of the 1999 intelligent robots and computer vision XVIII: algorithms, techniques, and Active vision

作者： Abidi, Besma R. Sari-Sarraf, Hamed Goddard, James S. Hunt, Martin A. Oak Ridge Natl Lab Oak Ridge United States

This paper describes an algorithm for the automatic segmentation and representation of surface structures and non-uniformities in an industrial setting. The automatic image processing and analysis algorithm is developed as part of a complete on-line web characterization system of a papermaking process at the wet end. The goal is to: (1) link certain types of structures on the surface of the web to known machine parameter values, and (2) find the connection between detected structures at the beginning of the line and defects seen on the final product. Images of the pulp mixture (slurry), carried by a fast moving table, are obtained using a stroboscopic light and a CCD camera. This characterization algorithm succeeded where conventional contrast and edge detection techniques failed due to a poorly controlled environment. The images obtained have poor contrast and contain noise caused by a variety of sources. After a number of enhancement steps, conventional segmentation methods still failed to detect any structures and are consequently discarded. techniques tried include the Canny edge detector, the Sobel, Roberts, and Prewitt's filters, as well as zero crossings. The facet model algorithm, is then applied to the images with various parameter settings and is found to be successful in detecting the various topographic characteristics of the surface of the slurry. Pertinent topographic elements are retained and a filtered image computed. Carefully tailored morphological operators are then applied to detect and segment regions of interest. Those regions are then selected according to their size, elongation, and orientation. Their bounding rectangles are computed and represented. Also addressed in this paper are aspects of the real time implementation of this algorithm for on-line use. The algorithm is tested on over 500 images of slurry and is found to segment and characterize nonuniformities on all 500 images.

关键词： computer vision

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A low-latency 60 Hz stereo vision system for real-time visual control

A low-latency 60 Hz stereo vision system for real-time visua...

引用

Proceedings of the 5th IEEE International Symposium on intelligent Control 1990

作者： Andersson, Russell L. AT&T Bell Lab Holmdel NJ USA

ISBN: (纸本)0818621087

The author presents an image acquisition and processing system designed for real-time six-dimensional object tracking with the precise temporal semantics and low latency required for use within the feedback loops of robotic applications. To achieve real-time performance, the system must extract from the image only the information needed to accomplish the task. Successful task performance depends on an integrated system, rather than on a collection of components. The hardware design takes the form of two large complementary VME-compatible cards: TRIAX, capable of simultaneously acquiring and processing two high-resolution video streams, and JIFFE, capable of 20 MFLOPS for the three-dimensional calculations. Described are algorithms that enable the system to track a rectangular solid, intended to track objects held by a robot hand. The algorithms hinge on scanning only small line segments of the image, followed by techniques for reconstructing object location from sparse edge points. The system tracks a cardboard box.

关键词： robots

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Mobile robot localization by multisensor fusion and scene matching

Mobile robot localization by multisensor fusion and scene ma...

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

作者： Yang, Yi B. Tsui, Hung T. Southeast Univ. Shatin Hong Kong China

ISBN: (纸本)0819423068

This paper proposes a new localization method for indoor mobile robots. Using two cameras and one laser range finder on board a TRC mobile robot, the initial position and pose of the robot can be obtained by multisensor fusion and scene matching based on geometric hashing. No correspondence calculation and special pattern recognition are needed during the scene matching. This localization method can be implemented in five stages: 1) Model the indoor environment. Some selected indoor environment features are firstly modeled off-line into hashing tables. 2) Perform system calibration and information fusion from two cameras and the range finder. 3) Extract the vertical edge points corresponding to the horizontal scanning plane of the 2D laser range finder from the scene images and transform them into geometric invariants. 4) Perform scene matching and matching verification by geometric hashing and model back-projection method respectively. 5) Perform position and pose estimation by a least square fit method. Experimental results show that the accuracy and reliability of this localization method are quite high.

关键词： Mobile robots

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New methods of measuring and calibrating robots

New methods of measuring and calibrating robots

引用

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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Experimental robot gripper control for handling of soft objects

Experimental robot gripper control for handling of soft obje...

引用

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

作者： Friedrich, Werner E. Ziegler, T.H. Lim, P. Industrial Research Ltd. Auckland NZ New Zealand

ISBN: (纸本)0819423068

The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

关键词： Industrial robots

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Diffraction of light by 3D hexagonal phase gratings: Applications for robotic color vision

Diffraction of light by 3D hexagonal phase gratings: Applica...

引用

Proceedings of the 1998 Conference on intelligent robots and computer vision XVII: algorithms, techniques, and Active vision

作者： Carbon, Margarita A. Boeing Co Canoga Park CA United States

Diffraction of light by 3D phase grating layers could be effectively used for color image processing in robotic vision. Gratings with hexagonal close-packed structures have the maximum amount of cells per volume unit, which leads to an advantage for color image processing. Using the 4D spectral method, we solve the wave equation for diffraction of light by a 3D hexagonal phase grating layer of spherical particles. Both ABCA and ABAB structures are considered. Distribution of diffracted light intensity is calculated in the Fraunhofer and Fresnel diffraction zones. For particular gating distances, the incident white light diffracts in three spatially separated maximums with the central wavelengths corresponding to the three primary colors. The wavelength dependence of diffracted light intensity, for incident white light, is calculated for the three maximums. In general case, by using these three primary curves one can reconstruct the color of incident light from corresponding values of light intensities measured in the three diffracted maximums. The conditions for self-imaging of 3D grating layers are formulated and investigated. Intensity distributions for diffracted light in planes of positive and negative self-imaging, and in a plane of lowest contrast are computed.

关键词： Robotics

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Simulation of a 3D-color vision system based on synthetic nonlinear modulation

Simulation of a 3D-color vision system based on synthetic no...

引用

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

作者： Xu, Zhanping Schwarte, Rudolf Heinol, Horst G. Lange, Robert Li, J. Univ. Siegen Siegen Ger Germany

ISBN: (纸本)0819423068

This paper focuses on simulating a model of 3D-color vision system based on synthetic nonlinear modulation. The model is set up to recover 3D and color properties from a colored object through evaluating several rf-interferograms sampled by a black-white CCD camera. Colorizing a black-white CCD camera in a 3D-vision system implies high resolution. The synthetic nonlinear modulation is different from other 3D-color vision systems. Different colored lights are synchronously modulated with characterizing rf-frequencies to detect a 3D object. Recovering colors is equally treated as recovering 3D information. Optical filters are not used. Instead, a suitable algorithm is adopted for recovering color and 3D information. Since a modulated optical rf-signal is used as a detecting probe rather than an unmodulated optical wave, higher orders of harmonic signals may be caused by electrical or optical components. Although linear matching techniques are adapted to prevent the problem, it is necessary to simulate the vision system for predicting its performances. An 8-bit black-white CCD camera with different signal to noise ratios is taken as an example in the simulation. 3D color properties are evaluated for the system in the case of nonlinearity and noise. An optimized result is obtained for realizing this vision system.

关键词： computer vision

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Boundary-based shape normalization technique

Boundary-based shape normalization technique

引用

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

作者： Leu, Jia-Guu Wayne State Univ. Detroit MI USA

ISBN: (纸本)0819410268

When a camera's center axis is not parallel to the surface normal of a planar object, the perceived shape of the object will be skewed. Most existing shape analysis methods are sensitive to such shape distortions. That is, if a shape is skewed due to non-orthographic projection, it may not be correctly recognized. In this paper we present a shape normalization process which neutralizes such shape skewing effects. In our case, a perceived shape is represented by a list of corner points along its boundary. We first compute the six lower moments of the shape from its boundary. Then these moments are used to compute the shape's center location, orientation, and maximum and minimum moments of inertia. To normalize the shape we first translate the shape's center to the origin. Next we rotate the shape to align its major axis with the x-axis. Then we expand the shape along its minor axis to neutralize shape skewing. Lastly, we scale the size of the shape so it has a standard moment of inertia. The suggested method can be used as a preprocessing step for any planar shape analysis method which is sensitive to shape skewing, shape size change, and/or shape translation. Since the moments are computed from the shape's boundary instead of from all its interior pixels, the method is also efficient. Several experimental results are given to show the effectiveness of the approach.

关键词： computer vision

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