Fast Vision Algorithm Research Articles

Closed Loop Robot Control by Real Time Visual Sensor

This paper deals with a real time K2D visual sensor used to control in a closed loop, a robot which assembles a piece held by its gripper with another one moving in a plane. In a first stage, the visual sensor is modelled and a fast vision algorithm is designed as the means to get the position and the dimensions of a circular pattern in less than 40 ms. In a second stage, the integration of this sensor in a robot unit is investigated and a model is proposed for the asynchronous communication between these two subsystems. In a last step, a feedback structure is studied in order to close the loop in a satisfactory way, and an assembling manipulation is described and analysed.

Fast line detection algorithm using multivalued image coding

A fast vision algorithm is proposed for detecting geometrical features such as line slopes of a polygonal object by using a multivalued image. Based on the fact that the multivalued image holds the local topological property of the original binary image, the algorithm extracts features by simple summation of weighted values of pixels in the multivalued image. Owing to the fact that the algorithm is easily implementable in hardware, its performance is experimentally shown to be very efficient in comparison with those of other methods.