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This paper focuses on the mechatronic design and control issues of a novel robotic shark with an embedded vision system. To pursue a better swimming performance, an updated robotic shark with more degrees of freedom (DOFs) is constructed. Specially, an optimized propulsive mechanism with three links is designed to fit a typical shark-like swimming and a pair of pectoral fins with two separate DOFs...
High-speed recognition of the shape of a target object is indispensable for robot arms to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring coded structured light projected...
Combined Vision System (CVS) that provides pilots a combination display with synthetic image and enhanced real vision requires critical image alignment. However, airborne navigation sensors are not accurate enough to support ideal alignment of synthetic and real image in CVS naturally. In this paper we investigate the effects of aircraft position and attitude errors on the projection accuracy of synthetic...
This article presents how stereoscopic vision is implemented in a humanoid robot with the purpose of selecting the most proper routine of movements to avoid obstacles encountered. The goals were to identify accurately the three-dimensional environment by using a depth map constructed with 2D images, acquired with a pair of cameras mounted on the robot, for their analysis using a Raspberry Pi 2 Model...
In this paper, we present a method of estimating the vanishing point from the railway environment images. Vanishing point plays a very important role in the machine vision based railway-environment surveillance methods, e.g. estimating the pose of the camera, video segmentation and panorama. In the application of railway-environment surveillance, we most care about the vanishing point corresponding...
To solve the problem of workpiece target accurate positioning in industrial environment, we proposed a method that used object's surface point cloud which created by stereo matching of binocular vision. Firstly, found out the ROI(Region Of Interest) of the stereo matching point cloud by template matching, and used an algorithm of noise reduction to gain a clean ROI point cloud. And then, extracted...
The subject of this paper is a particularly challenging machine vision (MV) based sorting application where the ‘part’ is an Indian coin. The application is challenging in part because of the lack of distinctive features to differentiate between denominations as well as the variability in the features for a given denomination. Although there are coin recognition algorithms documented in the literature,...
Structural parameter is an important factor which limits the improvement of precision in the three-dimensional measuring system of line-structured light. In order to improve the precision, we have developed an improved approach for choosing optimal structural parameters. A unified mathematical model with advantages of ease of use and compatibility is established. On this basis, errors of three-dimensional...
Sorting is one of the important tasks in production line and it has an appreciable effect to the homogeneous of products. Using vision system to increase productivity in automatic sorting system interests a large of researchers. In this paper, we recommend a vision sorting system based on computer that can identify the position and properties of fruits. The sorting system uses the high resolution...
With the rapid development of wood manufacturing industry, it's call for higher demand for detection of slab's three-dimensional size. The research and innovation of high speed testing theory of machine vision provides an opportunity for the development of wood industry. Machine vision calculates the parameters of acquired images through understanding and judgment, which has been applied to industrial...
In this paper we described the development of both the hardware and the algorithms for a novel laser vision system suitable for measuring distances from both solid and mesh-like targets in underwater environments. The system was developed as a part of the AQUABOT project that developed an underwater robotic system for autonomous inspection of offshore aquaculture installation. The system takes into...
There are no mechanical harvesters for the fresh market apple industry commercially available. The absence of automated harvesting technology is a critical problem because of rising production costs and increasing uncertainty about future labor availability. This paper presents the preliminary design of a robotic apple harvester. The approach adopted was to develop a low-cost, ‘undersensed’ system...
In order to provide auxiliary information for car parking, a strategy of detecting the nearest distance between obstacle and vehicle tail was studied based on the binocular vision system and a parking assist system was designed. The captured images processed and analyzed by using binocular vision system, the image distortion was improved by using the histogram correction method, and the influence...
An instrument for measuring water droplets is described and constructed. It is designed to measure the volume concentration and the size distribution of droplets in order to detect icing conditions in a natural fog. The instrument works by shadowgraph imaging, with a collimated blue LED as background illumination. We show how to use a reference object to obtain a calibration of the droplet size and...
The Army has a critical need for the automation of logistics assets that reduce the cost of operations, while increasing the efficiency and safety of operations. These vehicles sense the world around them and react to the environment, thereby minimizing the need to modify the working environment. An important feature that needs to be addressed is pallet engagement: the ability to find cargo pallets,...
In order to realize the Automation and intelligence of the identification and location of the insulator of the traction electric network, this paper proposes a new method for the identification and localization of the insulator in the contact network by using the stereo vision system and SURF. Firstly, we build the feature database of insulator based on the SURF feature extraction. Secondly, we processes...
Welding is a process of joining two or more substances that are based on the principles of diffusion processes, resulting in unification on the materials to be joined. The strength of the weld joint is determined by several parameters, including the weld bead width and the penetration. The width of the weld bead especially the upper part can be determined by looking directly through the CCD (Charge-Coupled...
for improving the present situation in the quality detection of plate making product line, a simplified homocentric square filter (SHSF) is proposed and implemented based on machine vision. Firstly, a hardware platform including camera, lens, light source, and encoder is designed to acquire high quality images. In order to automatically detect defects from the acquired images, the SHSF is designed...
There are many problems in the process of agricultural production, such as high labor costs, lack of processional management, delayed disaster warning, waste of agricultural information. In order to solve these problems, we developed the Argo-meteorological system. On the base of achieving real-time monitoring of farmland and disaster warning, it focused on the implementation of the comprehensive...
In this paper an FPGA-based video HiL (Hardwarein-the-Loop) solution is presented. It was designed to evaluate an of-the-shelf ADAS (Advanced Driver Assistance System) smart camera consisting of a video sensor (so-called forward looking camera (FLC)) and video processing unit. It allows to directly capture and store on a PC the video stream from the sensor. Then, the pre-recorded sequences can be...
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