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In this paper, we propose an algorithm to track welding line of TiG welding in welding pipe or tube. The proposed algorithm consists of detecting edge, binarization, segmenting target area, locating welding torch and locating welding line. Firstly, we use prewitt operator to form the edge of image which is acquired from industrial camera. Secondly, we achieve the binary image by using maximal variance...
This manuscript describes an implementation of a system that can adaptively cope with the task of robust colour identification in the domain of robot soccer. The main challenge is to perform this in an environment of changing light conditions and/or cameras used. The camera setup is first characterised using common techniques from colour management with ICC profiles. In a second step current light...
This paper proposes a new method of pest detection and positioning based on binocular stereo to get the location information of pest, which is used for guiding the robot to spray the pesticides automatically. The production of agricultural cultivation in greenhouse requires of big quantities of pesticides for pest control. Pesticides application is a major component of plant production costs in greenhouse,...
In this project an algorithm to generate a single image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. The algorithm was implemented that maps such pictures to the three dimensional model of the water pipe and based on that, generates the image...
We describe a navigation and coverage system based on unsupervised learning driven by visual input. Our objective is to allow a robot to remain continuously moving above a terrain of interest using visual feedback to avoid leaving this region. As a particular application domain, we are interested in doing this in open water, but the approach makes few domain-specific assumptions. Specifically, our...
In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of...
In this paper, we propose an approach to the book recognition system where the books on bookshelves are detected and recognized by line segment, MSAC based dominant vanishing point detection, singular value decomposition (SVD) based text recognition and semantic network. Our system can be equipped to robot intelligence to handle some works such as arranging, searching books which had formerly done...
Our pervious work has introduced the framework of Controlled Active Vision that provides a bridge between Computer Vision and Control. This paper presents some of the vision techniques that were employed in order to automatically select features, measure features' displacements, and evaluate measurements during the various applications of the Controlled Active Vision framework. We experimented with...
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