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Structured light vision is now widely used in weld seam detection for arc welding robot due to its simple structure, high precision, low cost, and real-time characteristic. By taking use of optical triangulation measurement principle, the position of welding seam is able to be measured. Calibration is one of the crucial step before structured light vision can be actually used in the welding system...
In order to seal the sealing ports of battery lid quickly and accurately, an automatic sealing system based on machine vision is presented in this paper. The whole system is composed of the light source, industrial camera, industrial control unit and a 4-degrees of freedom industrial robot. Specifically, the coordinates of the battery lid is calibrated by visual calibration method accurately. Then...
Bare electrodynamic tethers are proposed in the recent literature as a potential solution for deorbiting large dual-payload adapters, such as Sylda onboard Ariane 5. Deorbit measures are required to mitigate the increase of debris population, and consequent collision risk, in space. The system proposed hereby is made of two bare electrodynamic tethers (BET), deployed with respective tip-masses, along...
This paper describes an unmanned aerial vehicle (UAV) ice tracking framework for use in sea ice management applications. The framework is intended to be used in an ice management scenario where the UAV should detect and track the movement of icebergs and ice floes in an Arctic environment, and seeks to enable the UAV to do so autonomously. This is achieved by using an occupancy grid map algorithm...
This paper presents a structured light stand-alone 3D camera comprised of high speed embedded projector, high frame rate machine vision camera and on-board computer. Hierarchical Orthogonal Coding (HOC) is used for structured light patterns and Boundary Inheritance Codec [3] is used for decoding the HOC patterns. The proposed solution provides highly accurate 3D point cloud with less weight and smaller...
This paper describes a novel vision-based target tracking and landing method that uses aerial images from an on-board camera. The proposed method explicitly deals with occlusions that often occur during these maneuvers. Normalized cross correlation (NCC) is used to locate an image patch in a reference image with a measure of certainty. The key insight is that over the course of the vehicle approach,...
Recent evidence suggests that intelligent vehicle camera calibration is among the most important factors for achieving automobile intelligent, and how to carry out rapid calibration of intelligent vehicle camera has become a research hotspot. In this paper, we utilize the aperture imaging model and the perspective projection principle, and adopt a trilinear method to realize the automatic calibration...
Vision localization apple bagging robot is researched in this paper for young apples. The key technologies of the young fruit stereoscopic images recognizing and positioning are studied in the visible light of the natural environment. Firstly, the Otsu segmentation algorithm is used to preprocess the collected young apple images. Secondly, the improved connected component labeling algorithm is used...
This paper describes a method for omni-directional 3D reconstruction with a hyperbolic mirror and a regular camera. Omni-directional images are becoming increasingly famous in computer vision and other fields. Despite there some related research in omni-directional vision system applications during last two decades, however, omni-directional perception system have not ever been applied in crime scene...
The road lane detection technique is developed based on an on-board PC-based vision system. Different image processing techniques were adopted to find out the lane relative location on camera image, This lane information is integrated with vehicle frontal view laser scanning information to plan the vehicle moving path based on cubic-spline trajectory planning and generate the vehicle steering angle...
Robot warehouse automation has attracted significant interest in recent years, perhaps most visibly in the Amazon Picking Challenge (APC) [1]. A fully autonomous warehouse pick-and-place system requires robust vision that reliably recognizes and locates objects amid cluttered environments, self-occlusions, sensor noise, and a large variety of objects. In this paper we present an approach that leverages...
The ability of autonomous mobile robots to react to and recover from potential failures of on-board systems is an important area of ongoing robotics research. With increasing emphasis on robust systems and long-term autonomy, mobile robots must be able to respond safely and intelligently to dangerous situations. Recent developments in computer vision have made autonomous vision based navigation possible...
In this paper, a monocular vision measurement method based on rotating lens is proposed. A special optical lens is placed between the target and the camera, which causes light refraction during the measurement process. By analyzing images taken after different light refraction, the 3D coordinates of the target can be obtained. Using this method, 3D measurement of the full field can be completed with...
Vision guided robotic systems have been a subject to many researches and industrial projects, as this solution provides companies with stable manufacturing process.
This papers deals with an advanced and effective approach for testing system, by utilizing the hardware-in-the-loop (HIL) with the vision based machine learning technique to make end to end automation in the feature diagnosis and validation of automotive instrument clusters. Recently, numerous HIL systems are in practice for simulating the vehicle networks in real time, by providing necessary signals...
Machine vision has been widely and efficiently used for various industrial applications. However, in marine applications, this technology is still facing big challenges due to the free-swimming nature and unpredictable behavior of the fish. This paper presents new models for length estimation of small-size free-swimming fish objects using low-cost machine vision system. These models include two camera...
Measurement of screw thread parameters is one of the most tedious procedure in conventional metrology practices since most parameters part of the screw thread nomenclature require exclusive equipment specific to each parameter. Conventional methods are contact-type and also time consuming. Vision aided metrology has been appreciated as one of the most powerful technique for non-contact measurement...
A vision based tracking algorithm was developed for active load damping on a 1/9th scale extending boom crane using the Microsoft Xbox 360 Kinect RGB-D camera. The damping performance was compared to the IMU approach based on the Microstrain Inertia Link sensor. With the IMU solution, the radial damping ratio was improved by a factor of 2.2 and an order of magnitude in the tangential direction. The...
In this paper, we propose a robust method of vibration feature extraction using pixel-level digital filters in a high-frame-rate (HFR) video contaminated with motion blurs from a vibration source. This is completely different from conventional appearance-based object tracking methods that require spatial images with high-quality resolution. Our method allows a certain amount of motion blur to acquire...
This paper proposes a new localization method using monocular camera. A camera is hanging on the ceiling toward the ground. Its optical axis is perpendicular to the ground as possible. Its intrinsic parameters are calibrated in advance offline. Its extrinsic parameters refer to the chessboard reference are calibrated online. Then a method is proposed to estimate the 3D positions and orientations of...
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