Transcript ROBOT VISION Slide 1 ROBOT VISION ROBOT VISION Slide 1

ROBOT VISION
ROBOT VISION
Slide 1
2000 Jaskaran Singh
INTRODUCTION
ROBOT VISION
Robot vision- a brief introduction
Machine visionVision for robots requires the ability to
identify and accurately determine the
positions of all relevant three
dimensional objects within the robot
work place.
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David G. Lowe
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Definition of Robot vision
ROBOT VISION
Robot vision may be defined as the process
of extracting, characterizing, and
interpreting information from images of a
three dimensional world [1]
[1] www.ite.his.se/ite/research/automation/course/vision.htm
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Purpose Of A Machine Vision System
ROBOT VISION
Analyzes images and produces
descriptions of what is being imaged.
Input to the system- Image
Output from the system- satisfy two criteria.
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Robot Vision-Fundamental Tasks
ROBOT VISION
-Image transformation
-Image analysis
-Image understanding
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General Purpose Robot Vision(1)
ROBOT VISION
Important thingSystem should capture the relevant
data and with the motion of the object it
should be able to update the information.
Four steps to General Purpose Robot Vision
- Object verification and tracking
- Fast extraction of stable image
features
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General Purpose Robot Vision (2)
ROBOT VISION
- Object model acquisition
- Efficient indexing of the model
database
David G. Lowe
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Vision Sensors
ROBOT VISION
Special Vision Sensors
- Eye-in-hand Vision System
Fiber optic sensors
Laser sensors
Ultrasonic Transducers
Passive infra-red sensors
Radar systems- Not generally used
Neuromorphic Sensors
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Stereo Vision
ROBOT VISION
Stereovision is basically inferring scene
geometry from two or more images taken
simultaneously from slight different
viewpoints
Stereo Vision- Feeling of Depth
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Active/Dynamic Stereo Vsion
ROBOT VISION
Active vision seeks to gather scene
information dynamically and selectively
by probing and exploring the entire visual
field for the information that is salient to
the particular task at hand
John Pretlove
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Advantages Of Active Vision
ROBOT VISION
- Stabilizes the image
- figure-ground separation
- Better range estimation
- Lessening the effect of occlusions
- Useful in Robot Navigation
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Research Issues
ROBOT VISION
-Sensor Technology
-Approach to Human Vision
-Neural Networks
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