The author presents an image acquisition and processing system designed for real-time six-dimensional object tracking with the precise temporal semantics and low latency required for use within the feedback loops of r...
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ISBN:
(纸本)0818621087
The author presents an image acquisition and processing system designed for real-time six-dimensional object tracking with the precise temporal semantics and low latency required for use within the feedback loops of robotic applications. To achieve real-time performance, the system must extract from the image only the information needed to accomplish the task. Successful task performance depends on an integrated system, rather than on a collection of components. The hardware design takes the form of two large complementary VME-compatible cards: TRIAX, capable of simultaneously acquiring and processing two high-resolution video streams, and JIFFE, capable of 20 MFLOPS for the three-dimensional calculations. Described are algorithms that enable the system to track a rectangular solid, intended to track objects held by a robot hand. The algorithms hinge on scanning only small line segments of the image, followed by techniques for reconstructing object location from sparse edge points. The system tracks a cardboard box.
PARVO, a computervision system that addresses the problems of fast and generic recognition of unexpected 3D objects from single 2D views, is introduced. Recently, RBC (recognition by components), a new human image un...
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PARVO, a computervision system that addresses the problems of fast and generic recognition of unexpected 3D objects from single 2D views, is introduced. Recently, RBC (recognition by components), a new human image understanding theory, has been proposed on the basis of the results of various psychological studies. However, no systematic computational evaluation of its many aspects has been reported yet. The object recognition system the authors have built is a first step toward this goal, since its design respects and makes explicit the main assumptions of the proposed theory. It analyzes single-view 2D line drawings of 3D objects typical of the ones used in human image understanding studies. The main issues related to generic object recognition are discussed, original algorithms and techniques specific to the author's systems are described, and results of the different processing stages of the system are presented.< >
In numerous computervision applications, there is both the need and the ability to access multiple types of information about the three dimensional aspects of objects or surfaces. When this information comes from dif...
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Integrating the modules of early vision, such as color, motion, texture, and stereo, is necessary to make a machine see. Parallel machines offer an opportunity to realize existing modules in a near real-time system;th...
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A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In thes...
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ISBN:
(纸本)0892527617
A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In these cases, neither pure position nor pure force control is appropriate. There is a need to develop a hybrid controller to accommodate various task environments. We have developed a new approach for enhancing the current hybrid control techniques. The major contribution of this proposed hybrid position/force controller is its capability for accommodating the compliance selection vector both in position and force with the task environment adaptively. The derivation of an adaptive selection vector by the use of minimum energy and parameter identification algorithms is described in detail. The illustrative example and simulation results will be presented.
In some industrial applications it is not economical or possible to orient parts with standard devices such as vibratory feeders, because of their tendency to tangle, or to adhere, or be damaged by such a process. We ...
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ISBN:
(纸本)0892526149
In some industrial applications it is not economical or possible to orient parts with standard devices such as vibratory feeders, because of their tendency to tangle, or to adhere, or be damaged by such a process. We have developed a vacuum technique for acquiring a relatively small, and therefore manageable number of such parts in a clump that can be separated by pneumatic and gravity techniques. Once separated, the parts can be individually acquired by a robot guided by visionalgorithms that compute the location and orientation of each part in a field of separated but randomly-oriented parts. We describe the basic concepts and algorithms, and their implementation in a low-cost integrated robot-camera-computer system that is fast enough to be feasible for typical applications. A case study of one such application is used to illustrate the method.
Low level processing or preprocessing is often the starting point in many computervision systems. This stage is typically characterized as picture processing and uses gradients, edge templates, filters, thresholding,...
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ISBN:
(纸本)0892526149
Low level processing or preprocessing is often the starting point in many computervision systems. This stage is typically characterized as picture processing and uses gradients, edge templates, filters, thresholding, and other enhancement techniques. The next stage in computervision commonly deals with the processed image, usually binary in nature, and extracts intrinsic features such as size, shape, boundary, orientation, moments, etc. A new class of multiple-valued integrated optical processors is proposed for the parallel implementation of selected preprocessing algorithms. The basic component of the multiple-valued processor is an integrated optical threshold gate. The parallel processing algorithms required for both smoothing and boundary determination with an integrated optical thresholding array are described. One possible architecture for an optical parallel digital image processor is presented.
In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. ...
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ISBN:
(纸本)0892526300
In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. The scanning order is not fixed, but can be chosen freely. In fact, the scene-scanning process is driven in close interaction with the segmentation algorithms. The sensor is composed of a laser, a two-degrees-of-freedom deflection unit, pointing the laser-beam on the scene, 3 linear high resolution CCD photodiode arrays, observing the laser-spot through special optics. The system has been designed as an intelligent peripheral to a hostcomputer and is implemented in a 16-bit microprocessor environment. The hardware is roughly described. Two implemented segmentation algorithms, reducing 3-D coordinates to a description of the scene with planes are explained and evaluated.
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the...
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ISBN:
(纸本)0892525568
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the necessary computer time and the robustness of their algorithms for non-polyhedral cylindrical worlds.
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