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Robot Vision Systems TED 384 Computer Applications in Industry (Robotics Education) Robot Vision Theory and technology for building artificial systems that obtain information from images or multi-dimensional data

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Robot vision systems l.jpg

Robot Vision Systems

TED 384

Computer Applications in Industry (Robotics Education)

Created by Dr. T.E. Varnado


Robot vision l.jpg
Robot Vision

  • Theory and technology for building artificial systems that obtain information from images or multi-dimensional data

  • Scientific investigation of artificial systems for perception from images or multi-dimensional data

    http://en.wikipedia.org/wiki/Computer_vision

http://people.csail.mit.edu/bkph/art/rovis-cover.jpg

Created by Dr. T.E. Varnado


Industrial vision servos l.jpg
Industrial Vision Servos

  • Guide the pose/movement of the effector of an articulated robotic arm based on visual information

  • Original goal of visual servoing was to improve positional accuracy

http://www.prip.tuwien.ac.at/Research/RobotVision/robotin2.gif

http://www.prip.tuwien.ac.at/Research/RobotVision/vs.html

Created by Dr. T.E. Varnado


Machine vision l.jpg
Machine Vision

  • Making a flaw or surface condition visible

  • Using an illumination system with a defined intensity, homogeneity and incident angle.

  • Robot-Guidance from a vision system whose illumination is an LED bar light

  • Made to order illumination solution reduces hardware and software costs

http://www.volpi.ch/images/P_MV_09.jpg

Created by Dr. T.E. Varnado


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RSV2

  • Two vision systems

    • IR

    • Color camera

  • Long-range/Short-range

    • 8”-30”

    • Tracks movement

    • Detects obstacles

    • Differentiates certain colors

http://www.robosapienv2online.com/

Created by Dr. T.E. Varnado


Slide6 l.jpg
RSV2

  • Infrared Vision System

  • Based on reflection

  • White walls and mirrors are better for greater distances

Created by Dr. T.E. Varnado

http://hackedgadgets.com/wp-content/robosapien_vision_mod.jpg


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RSV2

  • Color Camera Settings

    • Daylight

      • Sunlight

    • Indoor Yellow

      • Common household light bulbs

    • Indoor White

      • Fluorescent tubes

    • Default is indoor yellow

http://www.robosapienv2online.com/pdf/RS2%20Manual%20USrevised.pdf

Created by Dr. T.E. Varnado


Humanoid robotics institute waseda university japan l.jpg
Humanoid Robotics Institute Waseda University, Japan

http://www.sugano.mech.waseda.ac.jp/wendy/hadaly/image/hadaly2c.jpg

Created by Dr. T.E. Varnado


Robot vision system of hadaly based on a three dimensional environmental model l.jpg
Robot vision system of Hadaly based on a three dimensional environmental model

http://www.humanoid.waseda.ac.jp/booklet/booklet2000_hashimoto.html

Created by Dr. T.E. Varnado


Active vision system used to understand the environment l.jpg
Active Vision System used to understand the environment environmental model

http://www.humanoid.waseda.ac.jp/booklet/booklet2000_hashimoto.html

Created by Dr. T.E. Varnado


Environment recognition l.jpg
Environment Recognition environmental model

Created by Dr. T.E. Varnado

http://www.humanoid.waseda.ac.jp/booklet/booklet2000_hashimoto.html


Neural robot learns to change its mind l.jpg
Neural robot learns to change its mind environmental model

  • Spatial novelty in this robot is an array of gated dipoles

    • Each addresses a different area in the robot’s field of vision

    • Performs a comparison between the incoming information about that point in space and what it was like previously

http://www.spie.org/web/oer/september/sep98/images/neural1.gif

Created by Dr. T.E. Varnado


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