Three-dimension positioning and coordinates measuring is the key technique in modern manufacturing, reverse engineering, automation, precision measurement and computer aided surgery. This paper presents a positioning ...
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ISBN:
(纸本)9783540885160
Three-dimension positioning and coordinates measuring is the key technique in modern manufacturing, reverse engineering, automation, precision measurement and computer aided surgery. This paper presents a positioning system based on a planar target and two CCD cameras. The binocular stereo vision measuring principle is proposed. Planar scene geometry and the Direct Reference Plane (DRP) method for the calibrated cameras are discussed. The 3D plane can be reconstructed according to the DRP method and 3D coordinates of the contact head on Planar Target can be directly computed according to rigid geometric transformation. We also develop a new three-step calibration method for matrices and distortion factors of the two cameras using coplanar feature points. Further results of calibrating and measuring are verified experimentally.
A new cotton recognition method is proposed in this paper. It provides parameters for motion of the manipulator so that it can acquire precise location information of cotton, identify cotton from surroundings correctl...
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ISBN:
(纸本)9780387772523
A new cotton recognition method is proposed in this paper. It provides parameters for motion of the manipulator so that it can acquire precise location information of cotton, identify cotton from surroundings correctly, and accordingly pick up them automatically. This method is based on color subtraction information of different parts of cotton. Furthermore, in order to increase accuracy rate of cotton recognition, dynamic Freeman chain coding is used to remove noise. Experimental results show that the proposed method has good performance for cotton identification.
Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries may photocopy beyond the limits of US copyright law, for private use of patrons, those articles in this volume that carr...
Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries may photocopy beyond the limits of US copyright law, for private use of patrons, those articles in this volume that carry a code at the bottom of the first page, provided that the per-copy fee indicated in the code is paid through the Copyright Clearance Center. The papers in this book comprise the proceedings of the meeting mentioned on the cover and title page. They reflect the authors' opinions and, in the interests of timely dissemination, are published as presented and without change. Their inclusion in this publication does not necessarily constitute endorsement by the editors or the Institute of Electrical and Electronics Engineers, Inc.
The most crucial problem of apple harvesting robot is to get the exact location and the maturity degree of the target. A system of apple maturity discrimination and positioning based on the multi-spectral technology a...
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ISBN:
(纸本)9780387772523
The most crucial problem of apple harvesting robot is to get the exact location and the maturity degree of the target. A system of apple maturity discrimination and positioning based on the multi-spectral technology and laser triangulation ranging principle is researched. Signal transmission, signal reception, signal processing, the CPU processing and several PC components are involved in the system. The distance between the apple and the device was calculated according to principle of triangulation. Ripe red apple, unripe green apple, stems and leaves have different reflectivity to red and infrared beam. The different ratio of red and infrared signal can be used to identify whether an apple is ripe. The. threshold used to judge whether an apple is ripe is an experiential interval, which is acquired by several experiments.
This paper explores the possibility of assessing the adequacy of a training database to be used in a learning-based super-resolution process. The Mean Euclidean Distance (MED)function is obtained by averaging the dist...
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ISBN:
(纸本)9780769527864
This paper explores the possibility of assessing the adequacy of a training database to be used in a learning-based super-resolution process. The Mean Euclidean Distance (MED)function is obtained by averaging the distance between each input patch and its closest candidate in the training database, for a series of blurring kernels used to construct the low-resolution database. The shape of that function is thought to indicate the level of adequacy of the database, thus indicating to the user the potential of success of a learning-based super-resolution algorithm using this database.
To perform as desired in a dynamic environment a vision system must adapt to a variety of operating conditions by selecting vision modules, tuning their parameters, and controlling image acquisition. Knowleage-based (...
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ISBN:
(纸本)9780769527864
To perform as desired in a dynamic environment a vision system must adapt to a variety of operating conditions by selecting vision modules, tuning their parameters, and controlling image acquisition. Knowleage-based (KB) controller-agents that reason over explicitly represented knowledge and interact with their environment can be used for this task;however the lack of a unifying methodology and development tools makes KB controllers difficult to create, maintain, and reuse. This paper presents the INVICON toolkit, based on the IndiGolog agent programming language with elements from control theory. It provides a basic methodology, a vision module declaration template, a suite of control components, and support tools for KB controller development. We have evaluated INVICON in two case studies that involved controlling vision-based pose estimation systems. The case studies show that INVICON reduces the effort needed to build. KB controllers for challenging domains and improves their flexibility and robustness.
The success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers driv...
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ISBN:
(纸本)9780769527864
The success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers drive autonomously in unknown terrain. This will require an evolution of the methods and technologies currently used. This paper presents our approach to 3D terrain reconstruction from large sparse range data sets, and the data reduction achieved through decimation. The outdoor experimental results demonstrate the effectiveness of the reconstructed terrain model for different types of terrain. We also present a first attempt to classify the terrain based on the scans properties.
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to h...
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ISBN:
(纸本)9780769527864
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to higher detection accuracy to first look for other related objects, that are easier to detect. These provide contextual priors for the target that make it easier to find. We demonstrate this in simulation using POMDP models, focussing on two special cases: where the target object is contained within the related object, and where the target object is spatially adjacent to the related object.
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. The robot is equipped with a camera system which dynamic...
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ISBN:
(纸本)9780769527864
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. The robot is equipped with a camera system which dynamically captures the environment. The visual potential is computed from an image sequence and optical flow computed from successive images captured by the camera mounted on the robot. Our robot selects a local pathway using the visual potential observed through its vision system. Our algorithm enables mobile robots to avoid obstacles without any knowledge of a robot workspace. We demonstrate experimental results using image sequences observed with a moving camera in a simulated environment and a real environment. Our algorithm is robust against the fluctuation of displacement caused by mechanical error of the mobile robot, and the fluctuation of planar-region detection caused by a numerical error in the computation of optical flow.
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms...
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ISBN:
(纸本)9780769527864
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms that solve this problem. The first method computes an approximate globally optimal meeting point using numerical simplex minimization. The second method is a computationally cheap heuristic that computes a local heading for each robot: by iterating this method, all robots arrive at the globally optimal location. We compare the performance of both methods to a naive algorithm (center of mass). Finally, we show how to extend the methods with inter-robot communication to adapt to new environmental information.
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