In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one ...
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The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of s...
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The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene.
In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in ...
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In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.
This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The pe...
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This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.
This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height mea...
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This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.
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