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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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Automatic sensor placement

Automatic sensor placement

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

作者： Abidi, Besma A. Univ. of Tennessee/Knoxville Knoxville TN USA

ISBN: (纸本)0819419524

Active sensing is the process of exploring the environment using multiple views of a scene captured by sensors from different points in space under different sensor settings. Applications of active sensing are numerous and can be found in the medical field (limb reconstruction), in archeology (bone mapping), in the movie and advertisement industry (computer simulation and graphics), in manufacturing (quality control), as well as in the environmental industry (mapping of nuclear dump sites). In this work, the focus is on the use of a single vision sensor (camera) to perform the volumetric modeling of an unknown object in an entirely autonomous fashion. The camera moves to acquire the necessary information in two ways: (a) viewing closely each local feature of interest using 2D data;and (b) acquiring global information about the environment via 3D sensor locations and orientations. A single object is presented to the camera and an initial arbitrary image is acquired. A 2D optimization process is developed. It brings the object in the field of view of the camera, normalizes it by centering the data in the image plane, aligns the principal axis with one of the camera's axes (arbitrarily chosen), and finally maximizes its resolution for better feature extraction. The enhanced image at each step is projected along the corresponding viewing direction. The new projection is intersected with previously obtained projections for volume reconstruction. During the global exploration of the scene, the current image as well as previous images are used to maximize the information in terms of shape irregularity as well as contrast variations. The scene on the borders of occlusion (contours) is modeled by an entropy-based objective functional. This functional is optimized to determine the best next view, which is recovered by computing the pose of the camera. A criterion based on the minimization of the difference between consecutive volume updates is set for termination of the explo

关键词： computer vision

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Color line-scan technology in industrial applications

Color line-scan technology in industrial applications

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

作者： Lemstrom, Guy F. T.V.I.-Temet Vision Industry Oy Helsinki Finl

ISBN: (纸本)0819419524

Color machine vision opens new possibilities for industrial on-line quality control applications. With color machine vision it's possible to detect different colors and shades, make color separation, spectroscopic applications and at the same time do measurements in the same way as with gray scale technology. These can be geometrical measurements such as dimensions, shape, texture etc. By combining these technologies in a color line scan camera, it brings the machine vision to new dimensions of realizing new applications and new areas in the machine vision business. Quality and process control requirements in the industry get more demanding every day. Color machine vision can be the solution for many simple tasks that haven't been realized with gray scale technology. The lack of detecting or measuring colors has been one reason why machine vision has not been used in quality control as much as it could have been. Color machine vision has shown a growing enthusiasm in the industrial machine vision applications. Potential areas of the industry include food, wood, mining and minerals, printing, paper, glass, plastic, recycling etc. Tasks are from simple measuring to total process and quality control. The color machine vision is not only for measuring colors. It can also be for contrast enhancement, object detection, background removing, structure detection and measuring. Color or spectral separation can be used in many different ways for working out machine vision application than before. It's only a question of how to use the benefits of having two or more data per measured pixel, instead of having only one as in case with traditional gray scale technology. There are plenty of potential applications already today that can be realized with color vision and it's going to give more performance to many traditional gray scale applications in the near future. But the most important feature is that color machine vision offers a new way of working out applications, where mach

关键词： computer vision

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Mars lander robotics and machine vision capabilities for in-situ planetary science

Mars lander robotics and machine vision capabilities for in-...

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

作者： Schenker, Paul S. Blaney, D.L. Brown, D.K. Bar-Cohen, Yoseph Lih, S.S. Lindemann, R.A. Paljug, Eric D. Slostad, Jeff T. Tharp, Gregory K. Tucker, C.E. Voorhees, C.J. Weisbin, Charles R. Baumgartner, E.T. Singer, R.B. Reid, R. Jet Propulsion Lab. Pasadena CA USA

ISBN: (纸本)0819419524

We overview our recent progress in lander-based robotics for Mars planetary science. Utilizing a 1:1 scale laboratory replica of the NASA Mar Surveyor '98 mission, JPL engineers and Mars science colleagues have demonstrated approaches to lander science functions such as robotic sample acquisition and deposition, end-effector based microscopic viewing, hand-carried science instrument data collection, and science instrument emplacement by a robot. Some of the significant technical advances underlying this simulated Mars flight capability include JPL's innovation of a new lightweight, mechanically stiff, gas deployed telescopic two meter robot arm, and cooperative engineering work with Michigan Tech colleagues on automated visual positioning control of robotic sampling. University of Arizona and JPL have further developed complementary advances in lander-based imaging spectroscopy and its robotic enablement. We outline this work, summarizing its key technical features, and illustrating experimental progress with photographs and an accompanying conference videotape.

关键词： Spacecraft

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New active 3D vision system based on rf-modulation interferometry of incoherent light

New active 3D vision system based on rf-modulation interfero...

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

作者： Schwarte, Rudolf Heinol, Horst G. Xu, Z. Hartmann, Klaus Univ. Siegen Siegen Ger

ISBN: (纸本)0819419524

Presently there is still a remarkable gap between the requirements and the capabilities of 3D- vision in the field of industrial automation, especially in manufacture integrated 100%-quality control. For these and a lot of other applications like security and traffic control a new extremely fast, precise and flexible 3D-camera concept is presented in this paper. In order to obtain the geometrical 3D information, the whole 3D object or 3D scene is illuminated simultaneously by means of rf-modulated light. This is realized by using optical modulators such as Pockels cells or FTR optical components (FTR: Frustrated Total Reflection). The back scattered light represents the depth information within the local delay of the phase front of the rf-modulated light intensity. If the reflected wave front is mixed again within the whole receiving aperture using the same optical 2D-modulation components and the same rf- frequency, an rf-interference pattern is produced. A CCD camera may be applied to sample these rf-modulation interferograms. In order to reconstruct the 3D-image a minimum of three independent interferograms have to be evaluated. They may be produced either by applying three different rf-phases or three different rf-frequencies. This procedure will be able to deliver up to some tens of high resolution 3D images per second with some hundred thousand voxels (volume elements). Such a remarkable progress can be achieved by means of three key important steps: Firstly by separating the opto-electronic receiver device from real-time requirements by using homodyne mixing of CW-modulated light. Secondly by applying the rf- modulation signal as an optical reference signal to the receiving optical mixer. And thirdly by using a throughout 2D layout of the transmitted illumination, further, of the optical mixer in the receiving aperture, and of the optoelectronic sensing element, e.g., a CCD-chip.

关键词： computer vision

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intelligent robot-based dynamic weighing system

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Proceedings of SPIE - The International Society for Optical Engineering 1994年 2353卷 398-409页

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

ISBN: (纸本)0819416886;9780819416889

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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Sequential algorithms for the inspection of surface-mounted devices

Sequential algorithms for the inspection of surface-mounted ...

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

作者： Gallegos, J.M. Villalobos, Jesus R. Cabrera, Sergio D. Univ. of Texas/El Paso El Paso TX United States

ISBN: (纸本)0819416894

This paper presents an overview of the development of vision algorithms for a flexible inspection system. This system is being designed for the inspection of surface mounted devices. The system identifies missing components and quantifies the position and rotation of the components present. Two types of approaches for the identification of missing components are presented and contrasted. The first approach involves conventional image processing techniques that are actually used in an operative prototype that is under test in an industrial environment. The second approach is a study of the use of backpropagation neural networks in as an alternative inspection method for component detection only.

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

关键词： Weighing

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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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intelligent robots and computer vision XII: algorithms and techniques

Intelligent Robots and Computer Vision XII: Algorithms and T...

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intelligent robots and computer vision XII: algorithms and techniques 1993

The proceedings contain 56 papers. The topics discussed include: neural net selection methods for Gabor transform detection filters;real-time model based vision for industrial domains;an automatic system for the classification of cellular categories in cytological images;an automated approach to trend monitoring based upon fractal analysis;automatic inspection of electronic surface mount assemblies;vision system based on a classification connexionist algorithm;locating facial features for age classification;and line grouping using perceptual saliency and structure prediction for car detection in traffic scenes.

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