Computer Vision and Sensor-Based Robots

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Author: C.H. Dodd

Publisher: Springer Science & Business Media

ISBN: 1461330270

Category: Technology & Engineering

Page: 353

View: 8003

The goal ofthe symposium, "Computer Vision and Sensor-Based Robots," held at the General Motors Research Laboratories on September 2S and 26, 1978, was to stimulate a closer interaction between people working in diverse areas and to discuss fundamental issues related to vision and robotics. This book contains the papers and general discussions of that symposium, the 22nd in an annual series covering different technical disciplines that are timely and of interest to General Motors as well as the technical community at large. The subject of this symposium remains timely because the cost of computer vision hardware continues to drop and there is increasing use of robots in manufacturing applications. Current industrial applications of computer vision range from simple systems that measure or compare to sophisticated systems for part location determination and inspection. Almost all industrial robots today work with known parts in known posi tions, and we are just now beginning to see the emergence of programmable automa tion in which the robot can react to its environment when stimulated by visual and force-touch sensor inputs. As discussed in the symposium, future advances will depend largely on research now underway in several key areas. Development of vision systems that can meet industrial speed and resolution requirements with a sense of depth and color is a necessary step.

Sensor-Based Robots: Algorithms and Architectures

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Author: C.S.George Lee

Publisher: Springer Science & Business Media

ISBN: 3642755305

Category: Computers

Page: 285

View: 4264

Most industrial robots today have little or no sensory capability. Feedback is limited to information about joint positions, combined with a few interlock and timing signals. These robots can function only in an environment where the objects to be manipulated are precisely located in the proper position for the robot to grasp (i. e. , in a structured environment). For many present industrial applications, this level of performance has been adequate. With the increasing demand for high performance sensor-based robot manipulators in assembly tasks, meeting this demand and challenge can only be achieved through the consideration of: 1) efficient acquisition and processing of intemaVextemal sensory information, 2) utilization and integration of sensory information from various sensors (tactile, force, and vision) to acquire knowledge in a changing environment, 3) exploitation of inherent robotic parallel algorithms and efficient VLSI architectures for robotic computations, and finally 4) system integration into a working and functioning robotic system. This is the intent of the Workshop on Sensor-Based Robots: Algorithms and Architectures - to study the fundamental research issues and problems associated with sensor-based robot manipulators and to propose approaches and solutions from various viewpoints in improving present day robot manipula tors in the areas of sensor fusion and integration, sensory information processing, and parallel algorithms and architectures for robotic computations.

Modelling and Planning for Sensor Based Intelligent Robot Systems

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Author: Horst Bunke,Takeo Kanade,Hartmut Noltemeier

Publisher: World Scientific

ISBN: 9789810222383

Category: Computers

Page: 496

View: 4192

This edited and reviewed volume consists of papers that were originally presented at a workshop in the Scientific Center at Schloss Dagstuhl, Germany. It gives an overview of the field and presents the latest developments in the areas of modeling and planning for sensor based robots. The particular topics addressed include active vision, sensor fusion, environment modeling, motion planning, robot navigation, distributed control architectures, reactive behavior, and others.

Applications of AI, Machine Vision and Robotics

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Author: K L Boyer,L Stark,H Bunke

Publisher: World Scientific

ISBN: 9814500887

Category: Technology & Engineering

Page: 268

View: 1331

This text features a broad array of research efforts in computer vision including low level processing, perceptual organization, object recognition and active vision. The volume's nine papers specifically report on topics such as sensor confidence, low level feature extraction schemes, non-parametric multi-scale curve smoothing, integration of geometric and non-geometric attributes for object recognition, design criteria for a four degree-of-freedom robot head, a real-time vision system based on control of visual attention and a behavior-based active eye vision system. The scope of the book provides an excellent sample of current concepts, examples and applications from multiple areas of computer vision. Contents:Range Estimation from Camera Blur by Regularized Adaptive Identification (L F Holeva)Modeling Sensor Confidence for Sensor Integration Tasks (K Hughes & N Ranganathan)From 3-D Scattered Data to Geometric Signal Description: Invariant Stable Recovery of Straight Line Segments (P Hébert et al.)Feature Extraction and Matching as Signal Detection (X-P Hu & N Ahuja)Non-Parametric Multiscale Curve Smoothing (P L Rosin)Integration of Geometric and Non-Geometric Attributes for Fast Object Recognition (L Grewe & A Kak)A Four Degree-of-Freedom Robot Head for Active Vision (F-L Du & M Brady)Control of Eye and Arm Movements Using Active, Attentional Vision (P A Sandon)Behavior-Based Active Vision (C S Pinhanez) Readership: Computer scientists and engineers. keywords:

Robot Vision

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Author: A. Pugh

Publisher: Springer Science & Business Media

ISBN: 3662097710

Category: Technology & Engineering

Page: 356

View: 6897

Over the past five years robot vision has emerged as a subject area with its own identity. A text based on the proceedings of the Symposium on Computer Vision and Sensor-based Robots held at the General Motors Research Laboratories, Warren, Michigan in 1978, was published by Plenum Press in 1979. This book, edited by George G. Dodd and Lothar Rosso!, probably represented the first identifiable book covering some aspects of robot vision. The subject of robot vision and sensory controls (RoViSeC) occupied an entire international conference held in the Hilton Hotel in Stratford, England in May 1981. This was followed by a second RoViSeC held in Stuttgart, Germany in November 1982. The large attendance at the Stratford conference and the obvious interest in the subject of robot vision at international robot meetings, provides the stimulus for this current collection of papers. Users and researchers entering the field of robot vision for the first time will encounter a bewildering array of publications on all aspects of computer vision of which robot vision forms a part. It is the grey area dividing the different aspects of computer vision which is not easy to identify. Even those involved in research sometimes find difficulty in separating the essential differences between vision for automated inspection and vision for robot applications. Both of these are to some extent applications of pattern recognition with the underlying philosophy of each defining the techniques used.

Control in Robotics and Automation

Sensor-based Integration

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Author: Bijoy K. Ghosh

Publisher: Academic Press

ISBN: 9780122818455

Category: Technology & Engineering

Page: 428

View: 4684

Control in Robotics and Automation has been written to meet the rapidly growing need for sensor-based integration to solve problems in the control and planning of robotic systems. Applications of these control methods range from assembly tasks in industrial automation to material handling in hazardous environments and servicing tasks in space. Many advances in a wide range of new applications in robotics and automation will depend on methods presented in this book, including robot-assisted surgery, space exploration, and micro-fabrication.

Robot Vision

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Author: Berthold Horn,Berthold Klaus,Paul Horn

Publisher: MIT Press

ISBN: 9780262081597

Category: Computers

Page: 509

View: 5621

"Presents a solid framework for understanding existing work and planning future research."--Cover.

Robot Vision

Video-based Indoor Exploration with Autonomous and Mobile Robots

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Author: Stefan Florczyk

Publisher: John Wiley & Sons

ISBN: 352760491X

Category: Technology & Engineering

Page: 216

View: 8516

The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.

Sensor Based Intelligent Robots

International Workshop, Dagstuhl Castle, Germany, October 15-20, 2000. Selected Revised Papers

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Author: Gregory D. Hager,Henrik I. Christensen,Horst Bunke,Rolf Klein

Publisher: Springer

ISBN: N.A

Category: Computers

Page: 375

View: 5823

This book constitutes the thoroughly refereed post-proceedings of the International Workshop on Sensor Based Intelligent Robots held in Dagstuhl Castle, Germany, in October 2000. The 20 revised full papers were carefully reviewed and improved for inclusion in this book. Addressing a broad variety of aspects of the highly interdisciplinary field of robotics, the book presents three topical sections on sensing, robotics, and intelligence.

Automated Assembly

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Author: Jack D. Lane

Publisher: Society of Manufacturing Engineers

ISBN: N.A

Category: Technology & Engineering

Page: 452

View: 8414

Robotics, Vision and Control

Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition

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Author: Peter Corke

Publisher: Springer

ISBN: 3319544136

Category: Technology & Engineering

Page: 693

View: 4328

Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and computer vision. It is written in an accessible but informative style, easy to read and absorb, and includes over 1000 MATLAB and Simulink® examples and over 400 figures. The book is a real walk through the fundamentals of mobile robots, arm robots. then camera models, image processing, feature extraction and multi-view geometry and finally bringing it all together with an extensive discussion of visual servo systems. This second edition is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing. “An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!” OUSSAMA KHATIB, Stanford

Multisensor Fusion for Computer Vision

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Author: J. K. Aggarwal

Publisher: Springer Science & Business Media

ISBN: 366202957X

Category: Computers

Page: 460

View: 6341

This volume contains revised papers based on contributions to the NATO Advanced Research Workshop on Multisensor Fusion for Computer Vision, held in Grenoble, France, in June 1989. The 24 papers presented here cover a broad range of topics, including the principles and issues in multisensor fusion, information fusion for navigation, multisensor fusion for object recognition, network approaches to multisensor fusion, computer architectures for multi sensor fusion, and applications of multisensor fusion. The participants met in the beautiful surroundings of Mont Belledonne in Grenoble to discuss their current work in a setting conducive to interaction and the exchange of ideas. Each participant is a recognized leader in his or her area in the academic, governmental, or industrial research community. The workshop focused on techniques for the fusion or integration of sensor information to achieve the optimum interpretation of a scene. Several participants presented novel points of view on the integration of information. The 24 papers presented in this volume are based on those collected by the editor after the workshop, and reflect various aspects of our discussions. The papers are organized into five parts, as follows.

Robotic Vision: Technologies for Machine Learning and Vision Applications

Technologies for Machine Learning and Vision Applications

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Author: Garcia-Rodriguez, Jose

Publisher: IGI Global

ISBN: 1466627034

Category: Technology & Engineering

Page: 535

View: 8424

Robotic systems consist of object or scene recognition, vision-based motion control, vision-based mapping, and dense range sensing, and are used for identification and navigation. As these computer vision and robotic connections continue to develop, the benefits of vision technology including savings, improved quality, reliability, safety, and productivity are revealed. Robotic Vision: Technologies for Machine Learning and Vision Applications is a comprehensive collection which highlights a solid framework for understanding existing work and planning future research. This book includes current research on the fields of robotics, machine vision, image processing and pattern recognition that is important to applying machine vision methods in the real world.

Camera-Aided Robot Calibration

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Author: Hangi Zhuang,Zvi S. Roth

Publisher: CRC Press

ISBN: 9780849394072

Category: Technology & Engineering

Page: 368

View: 3907

Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!

Vision Based Autonomous Robot Navigation

Algorithms and Implementations

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Author: Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh

Publisher: Springer

ISBN: 3642339654

Category: Computers

Page: 226

View: 3940

This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.