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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

Robot Vision Systems

TED 384

Computer Applications in Industry (Robotics Education)

Created by Dr. T.E. Varnado

robot vision
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
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
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

slide5
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
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

slide7
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
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
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
Active Vision System used to understand the environment

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

Created by Dr. T.E. Varnado

environment recognition
Environment Recognition

Created by Dr. T.E. Varnado

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

neural robot learns to change its mind
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