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The aim of this article is to develop a robust real velocity sensing system for agrimotors such as sprayers and harvesters of which large slip in the fields is unavoidable. Shifting displacement on ground is measured indirectly by using image matching, instead of conventional tachometer measuring method. In so doing, robust sensing system which eliminates the influences of such as bad weather and...
A novel scheme for construction and representation of a single compound cable is presented. The complicated geometry of those objects put on natural posture is analysed and represented based on a modified clustering method: Outer Edge FCM. In the modification, the membership functions can be extended by introducing three evaluation functions for distance, angle, and reach, respectively. We introduce...
In the field of nanotechnology, tracking freely swimming microorganisms under a microscope is difficult. An image of the target often rotates and changes shape as it moves. Further, the difficulty increases with background changes and fluctuations of colors and the brightness because of differences in the surrounding environment. To address these problems, we propose a tracking method combined with...
This paper describes a real-time stereo vision sensor based on the Field Programmable Gate Array (FPGA). It was developed using an image matching algorithm called Orientation Code Matching (OCM). Our implementation, using OCM, provides not only high performance, but also flexibility and a greater robustness, all of which are necessary to embed vision sensors in mobile robots and vehicles. The prototype...
We propose a robust algorithm for matching three-dimensional dot cloud data in an effort to detect defects during manufacturing processes. We apply our proposed method to inspect a complex three-dimensional die-cast product. Our approach recognizes the difference between two data sets as a defect after matching the data sets. Moreover, our method improves matching accuracy by detecting geometrical...
Camera vibration in recorded video is a problem with both handheld and stationary devices that vibrate due to wind and other external forces. To facilitate the development of a robust stereo system that is immune to such camera vibration, this study aims to study establishes an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we approximate the distribution...
In this paper, we propose a novel rapid complementary voting-based optical flow estimation method and an original reliability criterion strategy for estimated optical flow. In order to estimate the optical flow of an interiest region, we divide it into some sub-references and then compute the similarity profile for each sub-reference by using a certain matching criterion. These similarity profiles...
In this paper, we propose a velocity sensor for agricultural vehicles by sensing ground motion with robust image matching algorithm called Orientation Code Matching (OCM). The sensor performs velocity measurement with high accuracy and robustness without error by slipping in the fields. The algorithm of OCM is implemented on a Field Programmable Gate Array (FPGA) to perform real-time image matching...
We successfully develop a defect inspection method based on a robust method for matching the distance between points in three dimensions. The three-dimensional distance data of an object is measured by means of a laser range finder. The data is compared with the measured data of a high-quality item. Then, we examine the differences between two sets of data in order to detect defects in the target...
Due to the area of the vineyards in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also...
This paper has proposed a novel and robust scheme of image focusing by introducing a new measure of focusing based on orientation code matching. (hereinafter, OCM) A unique pencil-shape profile has been found through comparing the similarity between any patterns extracted at the same position within their own scenes. Based on this profile, a new evaluation function, named complemental pencil volume,...
We propose a novel three-dimensional measurement approach of flexible cables for factory automation applications, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. To solve stereo correspondence problem efficiently, feature point extraction from cables and a robust texture matching based feature...
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