Successful integration of robots into a manufacturing system is a crucial step in achieveing an efficient automated production system. However, different robots use different languages. To solve this problem, standard...
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Successful integration of robots into a manufacturing system is a crucial step in achieveing an efficient automated production system. However, different robots use different languages. To solve this problem, standardization of robotic control languages is desirable. A standardized robotic control language, UNLAN (UNIversal LANguage), is developed to control two different miniature robotic manipulators. UNILAN is designed as a motion-based language and is on a level close to the object level.
vision systems will play an increasing role in intelligent material handling systems. This paper discusses two hardware principles which make possible a host of cost-effective applications-integrated vision systems an...
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vision systems will play an increasing role in intelligent material handling systems. This paper discusses two hardware principles which make possible a host of cost-effective applications-integrated vision systems and the use of retroreflective materials. Described are (1) the design, cost, and performance characteristics of integrated systems, those with the microcomputer, array detector, and illumination as part of a single circuit;(2) the impact of using retroreflective materials, those with apparent brightness of more than 1000 times that of diffuse white surfaces;and (3) some specific applications: AGV guidance, part handling, and AS/RS control.
This paper presents a flexible and highly-reliable gray-level vision system based on multiple cell-feature descriptions using only three basic operation modules: extended convolution, radially traversing probing, and ...
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This paper presents a flexible and highly-reliable gray-level vision system based on multiple cell-feature descriptions using only three basic operation modules: extended convolution, radially traversing probing, and histogram compression. The generalized Hough transform is introduced as a universal method for object model matching. Model learning is automatically performed by acquiring image samples while rotating each object. A prototype system demonstrates successful recognition of mechanical parts.
computer diagnosis of the vascular diseases treatable by laser burning (photocoagulation) are investigated. Specific concern is with identification of the region and its distance from the center of the foveal avascula...
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computer diagnosis of the vascular diseases treatable by laser burning (photocoagulation) are investigated. Specific concern is with identification of the region and its distance from the center of the foveal avascular zone. The parametrization of the lesion boundary and location and measurement of distance from the lesion to foveal center is accomplished with an algorithm which builds the boundary as points on spokes emanating from a chosen interior point, one point on each spoke.
A learning procedure is described for the recognition of 3D industrial objects from 2d images. It is assumed that the objects are solid and have well defined edges and that viewpoint and lighting are well defined, but...
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A learning procedure is described for the recognition of 3D industrial objects from 2d images. It is assumed that the objects are solid and have well defined edges and that viewpoint and lighting are well defined, but that there is no information available on the orientation distribution of future objects to be classified. The presented learning procedure covers all orientations by an initial sampling, detects gaps and deletes superfluous orientations. An example is presented.
The classification of complicated 2-D shapes such as cracks, fractures and the abnormal patterns found on the surfaces of materials is very important in automated surface inspection. As a method of facilitating the cl...
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The classification of complicated 2-D shapes such as cracks, fractures and the abnormal patterns found on the surfaces of materials is very important in automated surface inspection. As a method of facilitating the classification of these shapes, we report a strategy of extracting the hierarchical structures from these complex patterns using branch cutting, boundary analysis, and others. Experimental results are given with random statistical patterns and with the images taken from the surfaces of some materials.
To avoid the excessive computation of testing all combinations of feature matches, groups of model features can be arranged in an index space offline (hashed). Ideally, each image group should index into the space and...
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To avoid the excessive computation of testing all combinations of feature matches, groups of model features can be arranged in an index space offline (hashed). Ideally, each image group should index into the space and find only those model groups that could have formed that image group. We prove an unexpected tight lower bound on the space required for such an indexing scheme for point features, 3D models, and 2D images, and consider some implementation issues.
Individual facial features such as the eyes or nose may not be as important to human face recognition as the overall pattern capturing a more holistic encoding of the face. This paper describes 'face space', a...
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Individual facial features such as the eyes or nose may not be as important to human face recognition as the overall pattern capturing a more holistic encoding of the face. This paper describes 'face space', a subspace of the space of all possible images, which can be described as linear combinations of a small number of characteristic face-like images. The construction of face space and its use in the detection and identification of faces is explained in the context of a working face recognition system. The effects of illumination changes, scale, orientation, and the image background are discussed.
In previous work by ourselves and others, it has been argued that the best algorithm for fusing multiple fixations of the same scene is to simply choose the maximum resolution information available at each position in...
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In previous work by ourselves and others, it has been argued that the best algorithm for fusing multiple fixations of the same scene is to simply choose the maximum resolution information available at each position in the reconstructed scene. We can show, under simple assumptions of pixel distributions, that this algorithm is indeed optimal in a least-squared-error sense. In the presence of noise, however, optimality no longer holds;a certain degree of averaging of lower resolution information is required to obtain optimal reconstruction. We also present empirical demonstrations of fused images using maximum-resolution and averaged blending techniques, and we illustrate the effects of noise on the quality of reconstruction.
In this paper, the ability of the retina to detect motion in the retinal peripheral visual field is emulated. The process of emulation utilizes a special receptive field defined in the spatial and temporal domains. Th...
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In this paper, the ability of the retina to detect motion in the retinal peripheral visual field is emulated. The process of emulation utilizes a special receptive field defined in the spatial and temporal domains. The simulation studies on this emulated peripheral visual field show that it is possible to acquire certain robust abilities in artificial systems which are inherent in their corresponding biological processes. Abilities such as noise suppression were evident in the emulated motion detection system presented in this paper.
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