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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 528-537页

作者： Loose, Markus Meier, Karlheinz Schemmel, Johannes Heidelberg Univ. Heidelberg Ger

ISBN: (纸本)0819423068;9780819423061

A camera system to be used in a tactile vision aid for blind persons has been built and tested. The camera is based on individual adaptive photoreceptors modelled after the biological example and realized in standard CMOS technology. The system exhibits a large dynamic range of approximately 7 orders of magnitude in incident light intensity and a pronounced capability to detect moving objects. It is planned to connect such a camera to a set of mechanical actuators which will transmit processed information about the image to the skin of a person. This paper describes simulations and measurements carried out with single adaptive pixels as well as results obtained with two complete prototype camera systems.

关键词： vision aids

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Stereo matching by optimization using weak environmental constraints

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 199-206页

作者： Branca, Antonella Stella, Ettore Attolico, Giovanni Distante, Arcangelo Istituto Elaborazione Segnali ed Immagini/CNR Bari Italy

ISBN: (纸本)0819423068;9780819423061

Our goal is to match primitives of a pair of images, thereby solving the correspondence problem, in order to estimate depths of 3D scene points from the relative distance between matched features. We propose a feature-based approach to solve the correspondence problem by minimizing an appropriate energy function where constraints on radiometric similarity and projective geometric invariance of coplanar points are defined. The method can be seen as a correlation based approach which takes into account the projective invariance of coplanar points in computing the optimal matches.

关键词： Binocular vision

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Measurement of the area of involvement in skin disease

Measurement of the area of involvement in skin disease

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

作者： Roning, J Kontinen, J Univ. of Oulu Oulu Finl Finland

ISBN: (纸本)0819423068

The ability to assess the severity of dermatoses by measuring the area of involvement is important in both clinical practice and research, but it has been shown that physicians, nurses and other groups are unable to do this accurately. A common practice in current use is the 'rule of nine' method, but wide variations have been found between observers' estimates. The purpose of this work was to test and demonstrate the feasibility of a computer vision technique for measuring the area of involvement in skin diseases by developing a system for psoriasis area assessment from slides which can be operated in an image processing environment. The exact percentage of the slide area involved varied from 1% to 59%, thus providing realistic material for the system. The system proved sufficiently accurate, and the techniques evidently have a potential for inclusion as parts of a more accurate and rapid method for area measurement in the case of skin diseases.

关键词： psoriasis machine vision area of involvement

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Evaluation of active vision by a car's antifog headlamps

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 447-457页

作者： Barun, Vladimir V. Levitin, Konstantin M. Inst. of Physics Minsk Belarus

ISBN: (纸本)0819423068;9780819423061

A special case of civilian active vision has been investigated here, namely, a vision system by car anti-fog headlamps. A method to estimate the light-engineering criteria for headlamp performances and simulate the operation of the system through a turbid medium, such as fog, is developed on the base of the analytical procedures of the radiative transfer theory. This method features in include the spaced light source and receiver of a driver's active vision system, the complicated azimuth-nonsymmetrical emissive pattern of the headlamps, and the fine angular dependence of the fog phase function near the backscattering direction. The final formulas are derived in an analytical form providing additional convenience and simplicity for the computations. The image contrast of a road object with arbitrary orientation, dimensions, and shape and its limiting visibility range are studied as a function of meteorological visibility range in fog as well as of various emissive pattern, mounting, and adjustment parameters of the headlamps. Optimization both light-engineering and geometrical characteristics of the headlamps is shown to be possible to enable the opportunity to enhance the visibility range and, hence, traffic safety.

关键词： computer vision

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Uniqueness of shape recovery based on interreflections

Uniqueness of shape recovery based on interreflections

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

作者： Yang, J Zhang, DL Ohnishi, N Sugie, N RIKEN (Japan) Nagoya Univ. (Japan) Meijo Univ. (Japan)

ISBN: (纸本)0819423068

We discuss the uniqueness of 3-D shape recovery of a polyhedron from a single shading image, and propose an approach to uniquely determine the concave shape solution by using interreflections as a constraint. We show that if interreflection distribution is not considered, multiple convex (or concave) shape solutions usually exist for a pyramid with three or more visible facets. However, if interreflection distribution is used as a constraint to limit the shape of polyhedron (for a concave polyhedron), polyhedral shape can be uniquely determined. Interreflections, which were considered to be deleterious in conventional approaches, are an important constraint for shape-from-shading.

关键词： computer vision 3D shape recovery shape-from-shading interreflection polyhedron

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Stereo Matching by optimization using weak environmental constraints

Stereo Matching by optimization using weak environmental con...

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

作者： Branca, A Stella, E Attolico, G Distante, A Istituto Elaborazione Segnali ed Immagini/CNR (Italy)

ISBN: (纸本)0819423068

Oue goal is to mar ch primitives of a pair of images, thereby solving the correspondence problem, in order to estimate depths of 3D scene points from the relative distance (disparity) between matched features. We propose a feature-based approach to solve the correspondence problem by minimizing an appropriate energy function where constraints on radiometric similarity and projective geometric invariance of coplanar points are defined. The method can be seen as a correlation based approach which take into account the projective invariance of coplanar points in computing the optimal matches.

关键词： Detection and tracking algorithms Feature extraction 3D image processing Error analysis Direct methods Image segmentation Object recognition Optimization (mathematics) 3D vision Machine vision

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Mobile robot localization by multisensor fusion and scene matching

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 298-309页

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

ISBN: (纸本)0819423068;9780819423061

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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Experimental robot gripper control for handling of soft objects

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 264-270页

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

ISBN: (纸本)0819423068;9780819423061

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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Generic motion platform for active vision

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 435-446页

作者： Weiman, Carl F. Vincze, Markus HelpMate Robotics Inc. Danbury CT USA

ISBN: (纸本)0819423068;9780819423061

The term 'active vision' was first used by Bajcsy at a NATO workshop in 1982 to describe an emerging field of robot vision which departed sharply from traditional paradigms of image understanding and machine vision. The new approach embeds a moving camera platform as an in-the-loop component of robotic navigation or hand-eye coordination. Visually served steering of the focus of attention supersedes the traditional functions of recognition and gaging. Custom active vision platforms soon proliferated in research laboratories in Europe and North America. In 1990 the National Science Foundation funded the design of a common platform to promote cooperation and reduce cost in active vision research. This paper describes the resulting platform. The design was driven by payload requirements for binocular motorized C-mount lenses on a platform whose performance and articulation emulate those of the human eye-head system. The result was a 4-DOF mechanisms driven by servo controlled DC brush motors. A crossbeam supports two independent worm-gear driven camera vergence mounts at speeds up to 1,000 degrees per second over a range of ± 90 degrees from dead ahead. This crossbeam is supported by a pan-tilt mount whose horizontal axis intersects the vergence axes for translation-free camera rotation about these axes at speeds up to 500 degrees per second.

关键词： computer vision

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

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 361-369页

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

ISBN: (纸本)0819423068;9780819423061

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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