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

共 691 条记录，以下是321-330 订阅

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Flexible workobject localization for CAD-based robotics

Flexible workobject localization for CAD-based robotics

引用

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

Detection and avoidance of simulated potholes in autonomous ...

引用

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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Towards a vision system for blinds

Towards a vision system for blinds

引用

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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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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Real time image processing architecture for robot vision

Real time image processing architecture for robot vision

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

作者： Persa, S Jonker, P Tech Univ Delft Pattern Recognit Grp NL-2628 CJ Delft Netherlands

ISBN: (纸本)0819438626

This paper presents a study of the impact of MMX technology and PIII Streaming SIMD (Single Instruction stream, Multiple Data stream) Extensions in image processing and machine vision application, which, because of their hard real time constrains, is an undoubtedly challenging task. A comparison with a traditional scalar code and with another parallel SIMD architecture (IMAP-vision board) is discussed with emphasize of the particular programming strategies for speed optimization. More precisely we discuss the low level and intermediate level image processing algorithms, which are best suited for parallel SIMD implementation. High-level image processing algorithms are more suitable for parallel implementation on MIMD architectures. While the IMAP-vision system performs better because of the large number of processing elements, the MMX processor and PIII (with Streaming SIMD Extensions) remains a good candidate for low-level image processing.

关键词： low and intermediate image processing parallel SIMD architectures robot vision

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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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Diffractive 3D grating-optical sensor with trichromatic color constancy at adaptation to variable illuminants

Diffractive 3D grating-optical sensor with trichromatic colo...

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

作者： Lauinger, N Badenhop, B CORRSYS DATRON Sensorsyst GmbH D-35578 Wetzlar Germany

ISBN: (纸本)0819438626

Since 0. Lummer [6] and the industrial development and production of artificial illuminants it became more and more evident that between sunlight and human vision a specific — until today unexplained — "resonance" condition apparently exists. Therefore the recommendation holds to approximate as much as possible the spectral energy distribution of artificial illuminants to the one of sunlight. Especially in human color vision spectral shifts of illuminants always lead to hue shifts (cornbined Brightness-, Hue-, Saturation-Shifts) in the perception of colors. These hue shifts in human vision adaptively become compensated with more or less time delay, leading to a relatively good "color constancy" under variable illurninants. An — always far from perfect — explanation model, the von Kries-model, attributes this adaptive compensation of hue shifts to the photopigments in the cones of the human retina. Other — less perfect — models attributing this adaptation to cortical functions also exist [1, 2]. In parallel the need becomes evident to realize future color sensors "capable to measure colors normalized to the spectral sensitivity curves of human vision" [7]. It might be registered with satisfaction that a growing objectivity comes into this psychophysical field of color constancy in human vision by the publication of more and more precise data on relevant parameters in the physical conditions of the experiments.

关键词： Diffraction gratings Colorimetry Diffraction Retina Human vision and color perception Visible radiation 3D image processing 3D imaging standards Sensors Cones

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Video switching and sensor fusion for multi-camera sensing systems

Video switching and sensor fusion for multi-camera sensing s...

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

作者： Saxena, M Selvaraj, V Dhareshwar, R Hall, EL Univ Cincinnati Ctr Robot RES Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

With the low cost of solid-state camera systems, it is now possible to include many cameras on a mobile robot or other machine. However, video processing is still relatively expensive. Therefore it is often desirable to share several cameras with a single processor. The purpose of this paper is to describe the design of a video switching system that permits eight cameras to be multiplexed with a single chip. Multiples of eight could also easily be accomplished. The heart of the system is a Maxim video switch. The user simply selects using a three-bit control signal, which camera signal is selected. The output of the video switch is then the desired camera image. One application of this video switch is a four camera input system to a mobile robot being constructed at the University of Cincinnati. Other applications include surveillance and other mobile systems. The decision as to which camera to observe can be made automatically from a computer providing a great versatility. For example, supplemental motion detectors could be used to activate the camera selection for a surveillance system. Higher-level logic has been used on our mobile robot application. Still higher-level logic could be used to fuse the video information in various ways before processing. The significance of this device is that it provides a wealth of video information to be used at the discretion of either a human viewer or automatic system.

关键词： computer vision video switching multiplexing mobile robot

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Spatio-temporal Fourier transforms for visual discrimination

Spatio-temporal Fourier transforms for visual discrimination

引用

IEEE Convention of the Electrical and ELectronic Engineers in Israel

作者： N. Mirchina Z. Zacharia Electrical and Electronics Department Center for Technological Education Holon Holon Israel

ISBN: (纸本)0780358422

intelligent pattern recognition techniques have become important in the fields of computer and robot vision. Our interest focuses on detection of dynamical variables which allows robotic visual units to define object evolution from 2D images. We describe a computational algorithm which predicts the real scene images using spatial Fourier frequency transforms multiplied by transforms of dynamic model integro-differential equations. The theoretical results have been simulated by computer numerical image processing and compared to expected real scenes.

关键词： Fourier transforms intelligent robots Layout Computational intelligence Pattern recognition computer vision Robot vision systems Object detection Prediction algorithms Frequency

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