Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented...
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Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the ro...
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The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.< >
An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achie...
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ISBN:
(纸本)9780819400383
An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achieved through the development of techniques to track in multiple dimensions for both the static and dynamic cases. These methods are realized via the fusion of the best attributes of visual and acoustic sensing into an effective configuration that is ideal for real time tracking purposes. The kinematic information for a moving object is extracted via end effector mounted vision and ultrasonic sensors. A hybrid position/force servo-controlled gripper developed at NCSU has been used for the system implementation. One parallel actuation gripper finger houses a fiber optics based Eye-in-Hand vision sensor, while the other accommodates an ultrasonic range sensor. The primary intent of this work is to develop approaches for performing the tasks of: generalized visual/ultrasonic tracking of known rectangular entities;3-D tracking of arbitrary pseudo-planar objects that can change orientation about the optical axis;and a real time paradigm for the tracking of motion in 3-D with variable orientation about the optical axis. This discussion includes both a description of the underlying principles and the initial experimental results.
Mathematical morphology, "algebra of shape", is used in many image processing applications including machine vision recognition, visually guided robot vision systems, biomedical image processing, and low-lev...
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Mathematical morphology, "algebra of shape", is used in many image processing applications including machine vision recognition, visually guided robot vision systems, biomedical image processing, and low-level vision problems. The fact that mathematical morphology deals with shape characteristics of an image makes it a tool for object recognition, defect detection, and feature extraction. The analogy between the morphological operations for shape and the convolution operations for signals suggests the dominance of mathematical morphology in the image processing applications related to shape, especially in machine vision.
The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are ...
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The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are well understood and that objects expected in the scene are known and modeled. Then, given a set of constraints, a set of actions is specified directing a robot arm to position itself in such a manner that an attached 3-D sensor located in the robot gripper yields the maximum information content with minimum effort with respect to the constraints. Techniques that yield solutions for placement of a triangulation-type 3-D laser range finder are presented.< >
It is suggested that the disparity between the knowledge and background of the individuals who develop software and those who use the developed software should be filled during the requirements engineering process thr...
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It is suggested that the disparity between the knowledge and background of the individuals who develop software and those who use the developed software should be filled during the requirements engineering process through the use of appropriate techniques and software tools that incorporate a conceptual model of the area of application. The authors describe an experimental requirements engineering environment that has been created to support the rapid prototyping of real-time systems and provides tools for the description of the objects that participate in the conceptual model of a real-time application. Objects have visual representations that resemble their appearance in real life. Animation capabilities support the validation of system behavior by end-users through an interactive, direct-manipulation simulator.< >
A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the Robotics a...
A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is present...
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Issues concerning the effective integration of multiple sensors into the operation of intelligentsystems are presented, and a description of some of the general paradigms and methodologies that address this problem i...
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