Design Of Vision System Research Articles

An FPGA Implementation of a Robot Control System with an Integrated 3D Vision System

Robot decision making and motion control are commonly based on visual information in various applications. Positionbased visual servo is a technique for vision-based robot control, which operates in the 3D workspace, uses real-time image processing to perform tasks of feature extraction, and returns the pose of the object for positioning control. In order to handle the computational burden at the vision sensor feedback, we design a FPGA-based motion-vision integrated system that employs dedicated hardware circuits for processing vision processing and motion control functions. This research conducts a preliminary study to explore the integration of 3D vision and robot motion control system design based on a single field programmable gate array (FPGA) chip. The implemented motion-vision embedded system performs the following functions: filtering, image statistics, binary morphology, binary object analysis, object 3D position calculation, robot inverse kinematics, velocity profile generation, feedback counting, and multiple-axes position feedback control.

Design and Implementation of Low-Carbon Economic Model-Oriented GIS Visualization and Spatial Analysis System

Design and Implementation of Low-Carbon Economic Model-Oriented GIS Visualization and Spatial Analysis System

Addressing the non-functional requirements of computer vision systems: a case study

Computer vision plays a major role in most autonomous systems and is particularly fundamental within the robotics industry, where vision data are the main input to all navigation and high-level decision making. Although there is significant research into developing and optimising algorithms for feature detection and environment reconstruction, there is a comparative lack of emphasis on how best to map these abstract concepts onto an appropriate software architecture. In this study, we distinguish between functional and non-functional requirements of a computer vision system. Using a RoboCup humanoid robot system as a case study, we propose and develop a software architecture that fulfills the latter criteria. To demonstrate the modifiability of the proposed architecture, we detail a number of examples of feature detection algorithms that were modified to capture the rapidly evolving RoboCup requirements, with emphasis on which aspects of the underlying framework required modification to support their integration. To demonstrate portability, we port our vision system (designed for an application-specific DARwIn-OP humanoid robot) to a general-purpose, Raspberry Pi computer. We evaluate the processing time on both hardware platforms for several image streams under different conditions and compare relative to a vision system optimised for functional requirements only. The architecture and implementation presented in this study provide a highly generalisable framework for computer vision system design that is of particular benefit in research and development, competition and other environments in which rapid system evolution is necessary to adapt to domain-specific requirements.

Analysis and optimization on in-vessel inspection robotic system for EAST

Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100°C) and vacuum (10−3pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

Revealing Visualization Insights from Quantified-Selfers' Personal Data Presentations.

Data visualization and analytics research has great potential to empower people to improve their lives by leveraging their own personal data. However, most Quantified-Selfers are neither visualization experts nor data scientists. Consequently, their visualizations of their data are often not ideal for conveying their insights. Aiming to design a visualization system to help non-experts explore and present their personal data, we conducted a pre-design empirical study. Through the lens of Quantified-Selfers, we examined what insights people gain specifically from their personal data and how they use visualizations to communicate their insights. Based on our analysis of 30 Quantified Self presentations, we characterized eight insight types (detail, self-reflection, trend, comparison, correlation, data summary, distribution, outlier) and mapped the visual annotations used to communicate them. We further discussed four areas for the design of personal visualization systems, including support for encouraging self-reflection, gaining valid insight, communicating insight, and using visual annotations.

Visual Enhancement of MR Angiography Images to Facilitate Planning of Arteriovenous Malformation Interventions

The primary purpose of medical image visualization is to improve patient outcomes by facilitating the inspection, analysis, and interpretation of patient data. This is only possible if the users’ perceptual and cognitive limitations are taken into account during every step of design, implementation, and evaluation of interactive displays. Visualization of medical images, if executed effectively and efficiently, can empower physicians to explore patient data rapidly and accurately with minimal cognitive effort. This article describes a specific case study in biomedical visualization system design and evaluation, which is the visualization of MR angiography images for planning arteriovenous malformation (AVM) interventions. The success of an AVM intervention greatly depends on the surgeon gaining a full understanding of the anatomy of the malformation and its surrounding structures. Accordingly, the purpose of this study was to investigate the usability of visualization modalities involving contour enhancement and stereopsis in the identification and localization of vascular structures using objective user studies. Our preliminary results indicate that contour enhancement, particularly when combined with stereopsis, results in improved performance enhancement of the perception of connectivity and relative depth between different structures.

An FPGA Implementation of a Robot Control System with an Integrated 3D Vision System

Robot decision making and motion control are commonly based on visual information in various applications. Position-based visual servo is a technique for vision-based robot control, which operates in the 3D workspace, uses real-time image processing to perform tasks of feature extraction, and returns the pose of the object for positioning control. In order to handle the computational burden at the vision sensor feedback, we design a FPGA-based motion-vision integrated system that employs dedicated hardware circuits for processing vision processing and motion control functions. This research conducts a preliminary study to explore the integration of 3D vision and robot motion control system design based on a single field programmable gate array (FPGA) chip. The implemented motion-vision embedded system performs the following functions: filtering, image statistics, binary morphology, binary object analysis, object 3D position calculation, robot inverse kinematics, velocity profile generation, feedback counting, and multiple-axes position feedback control.

Design of Voice Signal Visualization Acquisition System Based on Sound Card and MATLAB

With the development of computer technology and information technology, voice interaction has become a necessary means of human-computer interaction, and voice signal acquisition and processing is the precondition and foundation of human-computer interaction. This paper introduces the MATLAB visualization method into voice signal acquisition system, and uses MATLAB programming method to drive sound card directly, which realizes the identification and acquisition of voice signal and designs a new voice signal visualization acquisition system. In order to optimize the system, this paper introduces the variance analysis algorithm into the design of visualization system, which realizes the optimization of voice signal recognition model with different level parameters. At the end this paper does numerical simulation on the speech signal acquisition system; through signal acquisition 2D and 3D visualization voice signals are obtained. It extracts single signal characteristics, which provides a theoretical reference for the design of signal acquisition system.

Lucid Workspace for Stereo Vision

In this paper a novel error analysis on the well-known "stereo vision" system used in robots is presented. Based on this analysis, a new concept called the "lucid workspace" is introduced. Definition of such an area in the robot workspace is useful in vision system design. It enables us to know a priori the area that the robot can see in a crystal clear manner, so the designer can select the specifications and relative position of the vision system cameras to cover the needs. First, the basic two-camera triangulation equations are used to calculate a 3D object position, error propagation equations are derived by taking the appropriate partial derivatives with respect to all measurement errors. Next, using the applicable assumptions, two theorems are obtained and a new algorithm for determination of the lucid workspace is presented by using them. The performance of the new algorithm is verified using Monte Carlo simulations.

Study on the Improvement of Color Image Enhancement Algorithm for Robot Vision System

Under the influence of external dynamic lighting or outdoors strong light, image color have a great influence on rapid and accurate positioning of the robot, which requires the robot vision system to obtain the high quality of color image. This paper uses the image pixel conversion ratio algorithm to improve the image recognition algorithm of robot vision system, and the use of multi threshold segmentation technology carries out restructure for image, it can get the high resolution image enhancement effect. In order to realize the algorithm, the form of using VB programming carries out algorithm implementation, and then the image enhancement can calculate the enhanced results table of image color curve distribution and different segmentation threshold image resolution. From the simulation results, this algorithm can enhance the image color effect, which provides technical support for the development and design of robot vision system.

Assessing the binocular advantage in aided vision.

Advances in microsensors, microprocessors, and microdisplays are creating new opportunities for improving vision in degraded environments through the use of head-mounted displays. Initially, the cutting-edge technology used in these new displays will be expensive. Inevitably, the cost of providing the additional sensor and processing required to support binocularity brings the value of binocularity into question. Several assessments comparing binocular, binocular, and monocular head-mounted displays for aided vision have concluded that the additional performance, if any, provided by binocular head-mounted displays does not justify the cost. The selection of a biocular [corrected] display for use in the F-35 is a current example of this recurring decision process. It is possible that the human binocularity advantage does not carry over to the aided vision application, but more likely the experimental approaches used in the past have been too coarse to measure its subtle but important benefits. Evaluating the value of binocularity in aided vision applications requires an understanding of the characteristics of both human vision and head-mounted displays. With this understanding, the value of binocularity in aided vision can be estimated and experimental evidence can be collected to confirm or reject the presumed binocular advantage, enabling improved decisions in aided vision system design. This paper describes four computational approaches-geometry of stereopsis, modulation transfer function area for stereopsis, probability summation, and binocular summation-that may be useful in quantifying the advantage of binocularity in aided vision.

A Research about the Design and Application of Double Spectrum Car Night Vision System

With the rapid development of the automotive market and growing sense of security, the requirement of automotive safety is higher and higher. If infrared night vision system can be used, the view definition will be improved and the occurrence of traffic accidents will be reduced at night. The infrared night vision technology is a kind of photoelectric technology by using photoelectric imaging device to implement the night observation. Infrared imaging sensor identifies the target by detecting thermal radiation of the difference between target and background. Therefore, it is not sensitive to brightness changes of the sense and its imaging resolution is low. It is not conductive to human eyes observation. For driving safety, high resolution image is needed not only for finding the road object but also determining the accurate position of this road object. Optical imaging sensor resolution is high that can provide the road object's details. The fusion of the infrared and visible light image is conductive to comprehend the indicative of infrared image and the clarity of the visible light image, which is very important for driving safety. This paper implemented design of a kind of double spectrum car night vision system and described the novel competitive

Inferring Visualization Task Properties, User Performance, and User Cognitive Abilities from Eye Gaze Data

Information visualization systems have traditionally followed a one-size-fits-all model, typically ignoring an individual user's needs, abilities, and preferences. However, recent research has indicated that visualization performance could be improved by adapting aspects of the visualization to the individual user. To this end, this article presents research aimed at supporting the design of novel user-adaptive visualization systems. In particular, we discuss results on using information on user eye gaze patterns while interacting with a given visualization to predict properties of the user's visualization task; the user's performance (in terms of predicted task completion time); and the user's individual cognitive abilities, such as perceptual speed, visual working memory, and verbal working memory. We provide a detailed analysis of different eye gaze feature sets, as well as over-time accuracies. We show that these predictions are significantly better than a baseline classifier even during the early stages of visualization usage. These findings are then discussed with a view to designing visualization systems that can adapt to the individual user in real time.

텍스트 데이터 시각화를 위한 MVC 프레임워크

텍스트 데이터 시각화를 위한 MVC 프레임워크

Data Mining and Visualization System Design and Development

With the rise of the network,everyday the video websites update plenty of video datas.Faced with a lot of video datas,if you only rely on the human to analyze the video datas in order to dig out the information hidden in the video room,it will take a lot of time and is difficult to achieve the desired result. This paper develops a data mining and visualization system,which visualized shows the relationship between the video datas through a network graph of nodes.Based on visualized showing the relationship between the video datas,the system provides the tool to analyze the video datas and dig out the information hidden in the video room.

A comparative approach to enhance information interaction design of visual analytics systems

This paper introduces a novel comparative strategy to access, synthesize, and redesign a mobile visual analytics (VA) system. Designing, evaluating, and improving VA tools are challenging because of the exploratory and unpredicted nature of their users' analysis activities in a real context. Often the system development approach is running rounds of iteration based on one or a few design ideas and related references. Inspired by ideation and design selection from design-thinking literature, we start to redesign systems from comparison and filtering based on a broad range of design ideas. This approach focuses on the information interaction design of systems; integrates design principles from information design, sensorial design, and interaction design as guidelines; compares VA systems at the component level; and seeks unique and adaptive design solutions. The Visual Analytics Benchmark Repository provides a rich collection of the Visual Analytics Science and Technology (VAST) challenges submission reports and videos. For each challenge design problem, there are multiple creative and mature design solutions. Based on this resource, we conducted a series of empirical user studies to understand the user experience by comparing different design solutions, enhanced one visual analytics system design MobileAnalymator by synthesizing new features and removing redundant functions, and accessed the redesign outcomes with the same comparative approach.

Design of structured-light vision system for tomato harvesting robot

In order to improve the operating precision of the harvesting robot, a vision system for intelligently identifying and locating the mature tomato was designed. The active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the glasshouse. The maximum between-cluster variances of hue (H) and saturation (S) value were adopted as the threshold for color segmentation, which weakened the impact on the image caused by the light intensity variation. Through the limit on the pixel size and circularity of the candidate areas, the vision system recognized the fruit area and removed the noise areas. The fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera, when the linear laser was projected on the centre area of the mature fruit. The blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color characteristic. As the field test results show, the measurement error on the fruit radius is less than 5 mm, the centre distance error between the fruit and camera is less than 7 mm, and the single axis coordinate error is less than 5.6 mm. This structured-light vision system could effectively identify and locate mature fruit. Keywords: harvesting robot, tomato, linear structure-light, 3D measurement, feature extraction DOI: 10.3965/j.ijabe.20140702.003 Citation: Feng Q C, Cheng W, Zhou J J, Wang X. Design of structured-light vision system for tomato harvesting robot. Int J Agric & Biol Eng, 2014; 7(2): 19－26.

Design of a Greenhouse Visualization System Based on Cloud Computing and Android System

This visualization system aimed at collecting and storing environmental data and crops growing data so as to establish the relationship between environmental data and crop growth data.In order to solve the problem of big data storage,this paper put forward a new system architecture “Data collect+Cloud+Android”,which took advantage of cloud platform to store greenhouse environmental data and crops growth 3D data.Greenhouse environmental data was automatically uploaded to cloud platform and Android smart phone exchanged data with cloud platform.The greenhouse visualization system included:3D visualization of parameters in greenhouse,3D crop model,traceability system and video in greenhouse.During the test,the system runs smoothly and no data packet loss.

Design of a Greenhouse Visualization System Based on Cloud Computing and Android System

This visualization system aimed at collecting and storing environmental data and crops growing data so as to establish the relationship between environmental data and crop growth data.In order to solve the problem of big data storage,this paper put forward a new system architecture “Data collect+Cloud+Android”,which took advantage of cloud platform to store greenhouse environmental data and crops growth 3D data.Greenhouse environmental data was automatically uploaded to cloud platform and Android smart phone exchanged data with cloud platform.The greenhouse visualization system included:3D visualization of parameters in greenhouse,3D crop model,traceability system and video in greenhouse.During the test,the system runs smoothly and no data packet loss.

User Perceptions of Aesthetic Visual Design Variables within the Informing Environment: A Web-Based Experiment

A person’s psychological and physiological characteristics influence both behavior and decisionmaking in the informing process, such that system designers should understand users to reduce biases and misinformation. Given the substantial influence that visual interfaces have on users, system designers can benefit from understanding both the visual and functional aspects of interface design. To address these issues, this study employs the visual system design (VSD) framework, which integrates a rich and varied collection of visual design variables and IS (Information Systems) variables. This study performs a visual web-based experiment with data collected from 105 participants, where results show that changes in aesthetic elements of interface design, specifically, visual value and color, do ripple across a transition zone between visual design and IS variables. Both participants with and without visual design training were able to perceive those changes as intended. This study provides preliminary support to the VSD framework. It also suggests that bias and randomness are reduced in the informing process if system interfaces are designed with mindful and skilled use of design and aesthetic elements.