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  1. Robot Vision Systems TED 384 Computer Applications in Industry (Robotics Education) Created by Dr. T.E. Varnado

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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

  8. Humanoid Robotics Institute Waseda University, Japan http://www.sugano.mech.waseda.ac.jp/wendy/hadaly/image/hadaly2c.jpg Created by Dr. T.E. Varnado

  9. 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

  10. Active Vision System used to understand the environment http://www.humanoid.waseda.ac.jp/booklet/booklet2000_hashimoto.html Created by Dr. T.E. Varnado

  11. Environment Recognition Created by Dr. T.E. Varnado http://www.humanoid.waseda.ac.jp/booklet/booklet2000_hashimoto.html

  12. Neural robot learns to change its mind • 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