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

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Industrial robot

Industrial robot

引用

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

作者： Prakashan, A. Mukunda, H.S. Sudhakar Samuel, R.D. Colaco, J.C. S. J. Coll. of Engineering Mysore India

ISBN: (纸本)0819410268

This paper addresses the design and development of a four degree of freedom industrial manipulator, with three liner axes in the positioning mechanism and one rotary axis in the orientation mechanism. The positioning mechanism joints are driven with dc servo motors fitted with incremental shaft encoders. The rotary joint of the orientation mechanism is driven by a stepping motor. The manipulator is controlled by an IBM 386 PC/AT. Microcomputer based interface cards have been developed for independent joint control. PID controllers for dc motors have been designed. Kinematic modeling, dynamic modeling, and path planning have been carried out to generate the control sequence to accomplish a given task with reference to source and destination state constraints. This project has been sponsored by the Department of Science and Technology, Government of India, New Delhi, and has been executed in collaboration with M/s Larsen & Toubro Ltd, Mysore, India.

关键词： Industrial robots

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Looking near one object for another

Looking near one object for another

引用

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

作者： Wixson, Lambert E. Univ. of Rochester Rochester NY USA

ISBN: (纸本)0819410268

In order to search for an object as efficiently as possible, it can be very useful to take advantage of the spatial relationships in which it commonly participates. Searches that do so, which we call indirect searches, can be modeled as two-stage processes that first find an intermediate object that commonly participates in a spatial relationship for the target object, and then look for the target in the restricted region specified by this relationship. Using this model, previous work has determined that over a wide range of situations, for searches that involve rotating a camera about a fixed location, indirect searches improve efficiency by factors of 2 to 8. However, several areas require future research if indirect search is to become a widely applicable easily usable technique. This paper describes three major areas in need of study - recognizing typical intermediate objects, defining spatial relationships, and constructing mechanisms for moving a camera to examine cluttered regions of space. It concentrates especially on the latter topic, discussing many issues arising in the design of systems for looking around clutter and occlusions.

关键词： computer vision

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Kinematic calibration of a binocular head using stereo vision with the complete and parametrically continuous model

Kinematic calibration of a binocular head using stereo visio...

引用

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

作者： Shih, Sheng-Wen Jin, Jia-Sheng Wei, Kuo-Hua Hung, Yi-Ping Inst. of Information Science and Natl. Taiwan Univ. Nanking Taipei 11529 Taiwan

ISBN: (纸本)0819410268

This paper describes the process of calibrating the kinematic model for an active binocular head having four revolute joints and two prismatic joints. We use the complete and parametrically continuous (CPC) model proposed by Zhuang and Roth in 1990 to model the motorized head (or camera positioning system), and use a closed form solution to identify its CPC kinematic parameters. The calibration procedure is divided into two stages. In the first stage, the two cameras are replaced by two end-effector calibration plates each having nine circles. The two removed cameras can be used to build a stereo vision system for observing the varying positions and orientations of the end-effector calibration plates when moving the joints of the head. The positions and orientations of the calibration plates, or equivalently, of the end-effectors, can be determined from the stereo measurements. The acquired data are then used to calibrate the kinematic parameters. In the second stage, the cameras are remounted to the IIS-head, and a method proposed by Tsai is used to calibrate the hand-eye relation. Once the above kinematics calibration is done, the binocular head can be controlled to gaze or track 3-D targets.

关键词： computer vision

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Three-dimensional grating optical retinal chip and stimulus-adaptive robotic vision

Three-dimensional grating optical retinal chip and stimulus-...

引用

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

作者： Lauinger, Norbert Inst. of Industrial Psychology Wetzlar 1 Federal Republic of Germany

ISBN: (纸本)0819410268

A cellular multilayer phase grating with hexagonal closest packing proves to be the ideal focal plane architecture for the human eye, and is thus also the best model for designing stimulus- adaptive robot eyes which achieve the spatial and chromatic performance of the human eye. Crystal-optical calculation of the retinal cellular multilayer chip and the resulting correlations between the physical stimulus parameters and the adaptive shifts in human vision at the retinal level give rise to a time-frequency diagram of the eye and its stimulus-adaptive latitudes, which will become relevant in the design of future chips for robot eyes with performance comparable to that of human vision. The current presentation shows that 3-D grating optical parameters ensure the frequency-related chromatic adaptive shifts (transition from photopic to scotopic vision in the Purkinje shift, Stiles-Crawford effects I/II, Bezold-Bruecke phenomenon, chromatic adaptation to artificial light sources of different spectral composition, etc.) and also indicates what 3-D grating optical parameters are relevant to spatial transfer and adaptation, i.e., the time-related aspects in the time-frequency diagram (adaptation of the spatial modulation transfer function to the image parameters;log term for spatial adaptation to the intensity level;coding of spatial phase relationships between a fundamental spatial frequency and higher frequencies up to the third harmonic, etc.).

关键词： computer vision

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Obstacle detection and terrain characterization using optical flow without 3-D reconstruction

Obstacle detection and terrain characterization using optica...

引用

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

作者： Young, Gin-Shu Hong, Tsai-Hong Herman, Martin Yang, Jackson C. Natl. Inst. of Standards and Technology and Univ. of Maryla Gaithersburg MD USA

ISBN: (纸本)0819410268

For many applications in computer vision, it is important to recover range, 3-D motion, and/or scene geometry from a sequence of images. However, there are many robot behaviors which can be achieved by extracting relevant 2-D information from the imagery and using this information directly, without recovery of such information. In this paper, we focus on two behaviors, obstacle avoidance and terrain navigation. A novel method of these two behaviors has been developed without 3-D reconstruction. This approach is often called purposive active vision. A linear relationship, plotted as a line and called a reference flow line, has been found. The difference between a plotted line and the reference flow line can be used to detect discrete obstacles above or below the reference terrain. For terrain characterization, slopes of surface regions can be calculated directly from optical flow. Some error analysis is also done. The main features of this approach are that (1) discrete obstacles are detected directly from 2-D optical flow, no 3-D reconstruction is performed;(2) terrain slopes are also calculated from 2- D optical flow;(3) knowledge about the terrain model, camera-to-ground coordinate transformation, or vehicle (or camera) motion is not required;(4) the error sources involved are reduced to a minimum, since the only information required is a component of optical flow. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method.

关键词： Mobile robots

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Integrating task-directed plaiming with reactive object recognition 12

Integrating task-directed plaiming with reactive object reco...

引用

intelligent robots and computer vision XII: algorithms and techniques 1993

作者： Dickinson, Sven Stevenson, Suzanne Amdur, Eugene Tsotsos, John Olsson, Lars Department of Computer Science University of Toronto 6 King's College Rd. TorontoONM5S1A4 Canada Computational Vision and Active Perception Laboratory Dept. of Numerical Analysis and Computing Science Royal Institute of Tecimology StockholmS-10044 Sweden

We describe a robot vision system that achieves complex object recognition with two layers of behaviors, performing the tasks of planning and object recognition, respectively. The recognition layer is a pipeline in which successive stages take in images from a stereo head, recover relevant features, build intermediate representations, and deposit 3-D objects into a world model. Each stage is an independent process that reacts automatically to output from the previous stage. This reactive system operates continuously and autonomously to construct the robot's 3-D model of the environment. Sitting above the recognition pipeline is the planner which is responsible for populating the world model with objects that satisfy the high-level goals of the system. For example, upon examination of the world model, the planner can decide to direct the head to another location, gating new images into the recognition pipeline, causing new objects to be deposited into the world model. Alternatively, the planner can alter the recognition behavior of the pipeline so that objects of a certain type or at a certain location appear in the world model. © 1993 SPIE.

关键词： Pipelines

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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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Calibration of the spherical pointing motor

Calibration of the spherical pointing motor

引用

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

作者： Bederson, Benjamin B. Wallace, Richard S. Schwartz, Eric L. Bell Communications Research New York NY USA

ISBN: (纸本)0819410268

We have built a new miniature pan-tilt actuator, the spherical pointing motor (SPM). The SPM is an absolute positioning device, designed to orient a small camera sensor in two degrees of rotational freedom. The basic idea is to orient a permanent magnet to the magnetic field induced by three orthogonal coils by applying the appropriate ratio of currents to the coils. The function describing the relation between the coil currents and the resultant motor position can be calculated, but it is not very accurate as the actual coils do not exactly satisfy the assumptions made in these calculations. The motor must be calibrated to find the coil currents accurately. This paper describes a procedure for automatic calibration of the SPM. It is based on image feedback from a camera returning space-variant images, mounted on the rotor of the motor. It assumes that a calibrated image sensor and lens are used, i.e., that it is known how many degrees each pixel subtends. It also assumes that the camera rotates about its focal point. The calibration algorithm uses a scene of black dots on a white background. For each motor position that is to be calibrated, the algorithm moves the motor approximately to that position using the calculated currents. The algorithm analyzes the image, and uses the position of the relevant dot to calculate the actual position of the motor. It then associates this position with the coil currents and stores it in a look-up-table. Finally, we interpolate between calibrated points to move to other positions.

关键词： computer vision

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Behaviours for active object recognition 12

Behaviours for active object recognition

引用

intelligent robots and computer vision XII: algorithms and techniques 1993

作者： Wilkes, David Tsotsos, John Department of Computer Science University of Toronto 6 King's College Rd. TorontoONM5S1A4 Canada

The concept of active object recognition is introduced and a proposal for its solution is described. It is argued that single-view object recognition is fraught with problems, mainly due to viewpoint-related ambiguities, occlusions and coincidences. Recognition which is active, that is, that has the ability to vary viewpoint according to the interpretation status, is both more viable and more closely related to the manner in which humans recognize different objects. An active system may be achieved via a simple modification of the recognition hardware. The camera is mounted on the end of a robot arm on a mobile base. The system exploits the mobility of the camera by using low-level image data to drive the camera to a special viewpoint with respect to an unknown object. From such a viewpoint, the object recognition task is reduced to a two-dimensional pattern recognition problem. This paper describes the behaviour-based approach to camera motion, that ensures robust acquisition of special views of the object to be recognized. © 1993 SPIE.

关键词： Object recognition

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vision system based on a classification connexionist algorithm 12

Vision system based on a classification connexionist algorit...

引用

intelligent robots and computer vision XII: algorithms and techniques 1993

作者： Oliver, Gabriel A. Piera, Nüria Dept. de Matemàtiques i Informàtica Universitat de les Illes Balears Cra. de Validemossa km 7.5 Palma07071 Spain Dept. de Matemàtiques Universitat Politècnica de Catalunya c/Pau Gargallo 5 Barcelona08028 Spain

The representation and recognition of object shapes are important tasks of image analysis and computer vision systems. In the last years, a lot of effort has been made in these fieds and there are many applications in object recognition, scene analysis, object tracking or stereo correspondence. The way used to modelize and treat knowledge, and its uncertainty, is a fact that can deeply mark out some systems from others. In this work, we assume that the degree of confidence in the information provided by a TV camera is a value composed of different aspects of the original scene and image. This fact affects all the vision system, from the acquisition step to the classification or rejection of the objects observed. The vision system presented in this paper is a simple but efficient system for the classification of plane objects. Images are recorded by a TV camera. After carrying out the contour detection of the objects present in the scene, we go through a process of obtention of some singular points on these contours with which the descriptors of the objects will be built up. Due to the loss of information introduced in the digitalization and in the segmentation of the image, some uncertainty is introduced in the process that has to be taken into account in the classification process. In that sense, it is interesting to use a classification algorithm that can accept some kind of imprecision in the representation of the objects to be classified. The classification algorithm used is based on an incremental clustering methodology termed LAMDA (Learning Algorithm for Multivariate Data Analysis). Such a system takes into consideration the interaction of two processes, learning and recognition. It gives a representation of each class and enables us, if it is deemed necessary, to look for a specification or generalization of previously constructed classes. Examples and experimental results are presented to illustrate the performance of the system. © 1993 SPIE.

关键词： Classification (of information)

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