Camera Vision System Research Articles

Object Tracking with a Multiagent Robot System and a Stereo Vision Camera

When working with a robot in terms of object manipulation the essential information is relative position between robot's tool center point (TCP) and the object of interest. This paper proposes a method of frame relative displacement and describes a working multiagent robot application that can be used for tracking, tooling or handling operations with the use of stereo vision in unstructured laboratory environment. Robot system is composed of two Fanuc robot arms, one of which carries a stereo vision camera system and the other which is guided in relation to object of interest. The latter robot has a marker that is used for navigation between the robot and the object of interest. Image processing, marker detection, 3-D coordinates extraction, coordinate system transformations, offset coordinates calculation and communication are handled using c++ multithread program and TCP/IP protocol.

A 3D Gluing Defect Inspection System Using Shape-Based Matching Application from Two Cameras

This research is regarding the application of a vision algorithm to identify the operations of a system in order to control the decision making concerning jobs and work pieces recognition that are to be made during system operation in real time. These paper stresses on the vision algorithm used which mainly focus on the shape matching properties to identify defects occur on the product. A new supervised defect detection approach to detect a class of defects in gluing application is proposed. Creating of region of interest in important region of object is discussed. Gaussian smoothing features in determining better image processing and template matching in differentiates between reference and tested image are proposed. This scheme provides high computational savings and results in high defect detection recognition rate. The defects are broadly classified into three classes: 1) gap defect; 2) bumper defect; 3) bubble defect. The defects occur provides with information of height (z-coordinate), length (y-coordinate) and width (x-coordinate). This information gathered from the proposed two camera vision system for conducting 3D transformation. Information gathers used in new correction technique known as Correction of Defect (CoD) where rejected object will be altered to reduce rejected object produced from the system.

Low-Cost, High-Performance Monocular Vision System for Air Bearing Table Attitude Determination

Attitude determination is one of the most important prerequisites for the implementation of an air bearing table. In this context, computer vision is shown to be an enabling technology; a cost-effective monocular camera vision system, including hardware setup and navigation software, has been developed to determine the attitude of the air bearing table. Both infrared light-emitting diodes and filter are selected to simplify image processing, thereby maximizing the attitude update rate. A fiducial marker system uses five infrared light-emitting diodes with four in the same plane and the fifth outside the plane. This noncoplanar design not only improves the attitude determination accuracy, but also provides an element of robustness via a fiducial marker fault diagnosis and process method in case one of the light-emitting diodes is obscured by the top balance mass or is faulty. The static experimental results show that the system can provide attitude accuracy of 0.06 deg and angular velocity accuracy of with an attitude update rate of at least 10 Hz. Finally, a yaw-axis maneuver is performed to demonstrate the system performance under dynamic conditions. The developed system could be reused to support testing for other scientific space missions, which represents a major added value of this work.

Accurate Gaze Direction Measurements With Free Head Movement for Strabismus Angle Estimation

We present the Delft Assessment Instrument for Strabismus in Young children (DAISY) a device designed to measure angles of strabismus in young children fast and accurately. DAISY allows for unrestrained head movements by the mean of a triple camera vision system that simultaneously estimates the head rotation and the eye pose. The device combines two different methods to record bilateral eye position: corneal reflections (Purkinje images) and pupillary images. Detailed results are provided on three orthotropic subjects (age 25-27). Three different conditions were tested: 1) gaze ahead, 2) gaze ahead with different head rotations, and 3) fixed head with different eye positions. Systematic errors occurred between subjects that need further study. The system reached sufficient accuracy to be applied for the measurement of angles of strabismus, almost independent from the head pose.

Reduction of Backing Crashes by Production Rear Vision Camera Systems

Today’s automotive Rear Vision Camera (RVC) systems display an image to the driver of an area behind the vehicle generated by a camera located in the rear of the vehicle. This paper examined if, and to what extent, these systems offered on a wide variety of production vehicles are addressing backing crashes (estimated to represent approximately 3%-4% of all annual police-reported crashes in the United States). Police-reported crashes from ten United States state crash databases were examined to determine the frequency of backing crashes and control (baseline) crashes. The logistic regression model developed suggests that production RVC systems examined may be reducing overall police-reported backing crashes by 52%. This is a particularly promising finding because these systems may also be helping to avoid additional backing crashes that have not been reported to the police. This research can be used to inform emerging crash avoidance system-related system consumer metrics (e.g., New Car Assessment Program (NCAP) programs), government regulations surrounding RVC systems, and system performance requirements associated with RVC consumer metrics and regulations.

A method to identify a learner's action using a stereo vision camera system

A method to identify a learner's action using a stereo vision camera system

Development of Novel Detection Device for Chemical Properties of <i>Dioscorea hispida</i>

The potential of machine vision application in the determination of alkaloid inDioscorea hispidarhizome was explored. A camera vision system used in this research is chroma meter CR-400 made by Konica Minolta. The first component is the hardware component that functions as an image acquisitioned for the system. The second component is the software part which converts reading obtained from the hardware. From the design review, the images from a variety of harvested ofDioscorea hispidawill be captured and the reading in L*a*b color space were converted. The prediction was also made on the statistical relationship between Hue and dioscorine level in the fruit. With the same rhizomes, 40 grams was selected for chemical analysis at a laboratory for the programme of East Coastal Economic Regions Kementerian Pengajian Tinggi, Universiti Sultan Zainal Abidin, Malaysia (ECER-KPT UniSZA). The samples were selected from 12 portions of 2 plants (I and B) collected from Kampung Kudat, Ajil, Terengganu, Malaysia. The development on this study is grouped as non destructive method to determine the dioscorine content which is one of the alkaloid components in the rhizome ofDioscorea hispida.

The On-Line Calibration Research of the Picking Robot Binocular Vision System

In the picking robot binocular vision systems research, the camera calibration is often an indispensable step and these basements to locate the target of the object and rebuild the three-dimensional construction based on the robot stereo vision for the follow-up study. So, searching for a high accuracy and simple camera calibration algorithm is of great significance and necessary. However, For most of these camera calibration algorithms, it is necessary to establish a reference object, namely the target, in front of the camera at present, but posing the target is very not convenient or almost impossible in some cases. Therefore, a picking robot online calibration algorithm based on the vision scene was proposed by studying the work environment characteristics of the picking robot binocular vision system and the invariant projective geometry. The experimental results showed that this algorithm’s calibration accuracy and precision good meets to the requirement of the robot binocular vision system camera calibration in the complex environment.

DEVELOPMENT OF FOUR VISION CAMERA SYSTEM FOR A MICRO-UAV

Abstract. Due to regulations micro-UAV's with a maximum take-off weight of <5kg are commonly bound to applications within the line of sight. An extension of the ground coverage is possible by using a set of oblique cameras. The development of such a multi camera system with a total weight of 1 kg under photogrammetric aspects is quite challenging. The introduced four vision camera system consists of four industrial grade oblique 1.3 mega pixel cameras (four vision) with 9 mm lenses and one nadir looking camera with a 6 mm lens. Despite common consumer grade cameras triggering and image data is stored externally on a small PC with a hard disk of 64 GB and a weight of only 250 g. The key question to be answered in this paper is, how good in a photogrammetric and radiometric sense are the small cameras and do they need an individual calibration treatment or is a single set of calibration parameters sufficient for all cameras?

3D Coordinate Measurement System Using Single Camera and IMU

This paper proposes a new method for measuring 3D coordinates of a point using a single camera vision system. The contact point is determined by using 3D force sensors. In addition, the force limiting system has also been incorporated to improve accuracy of the results. 3D point is captured when the touching probe senses the force up to certain limit and subsequently recording of that point is initiated. The points being recorded are then processed for the required feature calculation such as distance between planes, angle, radius etc. The IMU (inertial measurement unit) initially estimates the target plane position which enables the whole system to perform the required task quickly. Hence, this system can be used for continuous scanning of any surface.

Integration of Vision and Robot Motion: A Novel Approach to Teaching Kinematics Transformation Using an Industrial Robot Arm

The paper reports on work carried out on an educational exercise for graduate and undergraduate students that aids the study of Denavit-Hartenberg (DH) programming, through a real application within a ‘learning by doing’ scheme. The work presented to students requires the integration of the motion of an industrial robot (ASEA IRB 6) with a camera vision system (Baxall CD9752); they are asked to develop software that will support: the motion of the robot arm, including forward and reverse kinematics; the detection of an object on a test table; the picking up of the object; and its move to a target position on another test table. To assess the experiment, students select seven random points in the active camera area to determine the difference between the actual location of the end-effector and the location calculated using two methods: the trigonometric solutions and the DH parameters. Students discover that the trigonometric technique gives better position accuracy than DH. The project forms an excellent practical exercise to enhance student learning.

장애인을 위한 새로운 감성 인터페이스 연구

Objective: Making a new ergonomic interface system based on camera vision system, which helps the handicapped in home environment. Background: Enabling the handicapped to manipulate the consumer electronics by the proposed interface system. Method: A wearable device for capturing the eye image using a near-infrared(NIR) camera and illuminators is proposed for tracking eye gaze position(Heo et al., 2011). A frontal viewing camera is attached to the wearable device, which can recognize the consumer electronics to be controlled(Heo et al., 2011). And the amount of user's eye fatigue can be measured based on eye blink rate, and in case that the user's fatigue exceeds in the predetermined level, the proposed system can automatically change the mode of gaze based interface into that of manual selection. Results: The experimental results showed that the gaze estimation error of the proposed method was 1.98 degrees with the successful recognition of the object by the frontal viewing camera(Heo et al., 2011). Conclusion: We made a new ergonomic interface system based on gaze tracking and object recognition Application: The proposed system can be used for helping the handicapped in home environment

Gain-scheduling Control of a Monocular Vision-based Human-Following Robot

AbstractThis paper presents a gain-scheduling controller for a human-following robot. Typical controllers use either a point-to-point approach where the relative orientation between human and platform is uncontrolled, or a direction-based approach which corrects orientation errors at the expense of additional actuation. We describe the flaws and benefits of each and argue that a gain-scheduling controller combining the two is better equipped to deal with the challenges of human-following. A model of our feature-based, single camera vision system is presented and used to show that the gain-scheduling controller offers better performance than its components, and actual responses to a human following task are used to corroborate this.

Identifying and Tracking Pedestrians Based on Sensor Fusion and Motion Stability Predictions

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

English

The variations of day light intensity must be taken into account to recognize the color of the agriculture product when using camera vision system. In this study, the development of outdoor image analysis for oil palm fruit fresh bunches (FFB) was developed to analyses image of oil palm FFB. The software analysis will generates the mathematical model and correlation factor between the light intensity in relation to value of FFB from Red, Green and Blue component (RGB) of image taken. The visual basic programming language was used. An Excel worksheet programming software was developed to draw a chart and modify the charts location and dimensions. The API (Application Programming Interface) called GDI32 (Graphic Device Interface: 32-bit version) was applied to read and manipulate the pixel value of image. The software automation technique was used in the development of outdoor image analysis for agriculture product. The automation concept is to describe the automatic generation of the software to manipulate the data for producing the graph, mathematical analysis and equation, automatically from a bundle of data collected by only a click of mouse button. The result generated was used to develop mathematical model for color-based recognition for outdoor image of agriculture product. Linear regression function was used to find the equation of mathematical model for outdoors image analysis. To find the best equation of mathematical model, various trendline of data manipulation can be chosen manually from option provided in Microsoft Excel. The images of FFB were taken by using sony digital camera Handycam at various times of day from morning to afternoon in the oil palm plantation. Keywords - Outdoors Vision System, Colour Recognition, Software Automation, Oil Palm FFB

Machine Vision Algorithm for Robots to Harvest Strawberries in Tabletop Culture Greenhouses

A strawberry harvesting robot consisting of a four DOF manipulator, an end-effector with suction pad, a three camera vision system and a rail type traveling device was developed as a trial to conduct experiments in a tabletop culture greenhouse. In order to harvest the strawberries with curved or inclined peduncles, a wrist joint which can rotate 15 degrees to the left or right from its base position was added. On the algorithm side, peduncle inclination angle was measured by the center camera. Harvesting experiments show that it was possible to precisely harvest more than 75% of fruits which were not occluded by other fruits with the developed robot. Experimental data also show that peduncle length, color and inclination pattern change with the seasons. Complex situations often exist in the real field conditions such as limited visibility of back end strawberries, occluded fruits, obstructions and complex peduncle patterns. Further studies are desirable to automate the harvesting task using a robot.

DESIGN OF A NOVEL SINGLE CAMERA VISION SYSTEM FOR BOTH COMPONENT AND BOARD ALIGNMENT IN PICK AND PLACE MACHINES

This paper handles about the design of a novel single camera vision system to measure component and board alignment in Pick and Place machines. This system is a part of an innovative concept for a faster Pick and Place machine concept. An existing two camera vision system is compared with the single camera system. Also the error budget which influences the final measurement accuracy is theoretically discussed for the novel single camera vision system.

유비쿼터스 이동로봇용 천장 인공표식을 이용한 비젼기반 자기위치인식법

본 논문은 유비쿼터스 이동로봇의 자기위치인식에 적용되는 비젼시스템의 왜곡된 영상을 보정하기 위한 실용적인 방법을 제안하다. 이동로봇에서 자기위치인식은 필수적인 요소이며 카메라 비젼시스템을 이용하여 처리 가능하다. 자기위치인식에서 비젼시스템은 넓은 시야를 확보하기 위해 어안렌즈를 이용하는데, 이는 영상의 왜곡을 발생한다. 또한 이동로봇은 지속적인 움직임을 가지므로 빠른 시간 내에 영상을 처리하여 자기위치를 인식해야 한다. 따라서 이동로봇에 적용 가능한 실용적인 영상왜곡 보정기법을 제안하고 실험을 통하여 성능을 검증한다. In this paper, a practical technique for correction of a distorted image for vision-based localization of ubiquitous mobile robot. The localization of mobile robot is essential and is realized by using camera vision system. In order to wide the view angle of camera, the vision system includes a fish-eye lens, which distorts the image. Because a mobile robot moves rapidly, the image processing should he fast to recognize the localization. Thus, we propose the practical correction technique for a distorted image, verify the Performance by experimental test.

Vision-based formation control of mobile robots

In this paper, a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variation, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.

3D Position Detection of A Moving Object in Active Stereo Vision System with Multi-DOF Motion

This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement accuracy depends on the configuration of a target object and two cameras of vision system. In this case, these exist a camera configuration that enables to improve the measurement accuracy of object position. On the other hand, the camera system requires a multi-DOF motion to realize fast tracking of moving object. To address the above issues, a stereo vision system with multi-DOF motion is developed in this research. The constructed vision system has two hand-eye system that are controlled independently. In the proposed strategy, two performance indices are considered to determine the manipulator motion of hand-eye system. One is camera configuration index to evaluate the performance of the position detection by the stereo vision. The other is a manipulability measure of the manipulator in the hand-eye system. Considering both indices to determine the motion of hand-eye system, the tracking performance of stereo vision system is improved. Numerical and experimental results show the availability of the proposal method.