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Influence of Data Clouds Fusion From 3D RealTime vision system on Robotic Group Dead Reckoning in Unknown Terrain

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 368-385页

作者： Mykhailo Ivanov Oleg Sergyienko Vera Tyrsa Lars Lindner Wendy Flores-Fuentes Julio Cesar Rodriguez-Quinonez Wilmar Hernandez Paolo Mercorelli Universidad Autónoma de Baja California MexicaliB.C.21100Mexico Universidad de Las Américas Quito 170125Equador Leuphana University of Lueneburg Lüneburg 21335Germany

This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.

关键词： Data transfer group behavior machine vision navigation robotic group(RG) vision system

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Development of a monocular vision system for robotic drilling

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Journal of Zhejiang University-Science C(Computers and Electronics) 2014年第8期15卷 593-606页

作者： Wei-dong ZHU Biao MEI Guo-rui YAN Ying-lin KE Department of Mechanical Engineering Zhejiang University The State Key Lab of Fluid Power Transmission and Control Zhejiang University

Robotic drilling for aerospace structures demands a high positioning accuracy of the robot, which is usually achieved through error measurement and compensation. In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill tool center point(TCP) and the reference hole. First, the principle of relative error measurement with the vision system is explained, followed by a detailed discussion on the hardware components, software components, and system integration. The elliptical contour extraction algorithm is presented for accurate and robust reference hole detection. system calibration is of key importance to the measurement accuracy of a vision system. A new method is proposed for the simultaneous calibration of camera internal parameters and hand-eye relationship with a dedicated calibration board. Extensive measurement experiments have been performed on a robotic drilling system. Experimental results show that the measurement accuracy of the developed vision system is higher than 0.15 mm, which meets the requirement of robotic drilling for aircraft structures.

关键词： vision system Robotic drilling Error measurement Elliptical contour extraction Hand-eye calibration

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A Machine vision system for Bearing Greasing Procedure

A Machine Vision System for Bearing Greasing Procedure

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2013年中国智能自动化学术会议

作者： Hao Shen Chengfei Zhu Shuxiao Li Hongxing Chang Institute of Automation Chinese Academy of Sciences

Bearing is widely used in many machines,which can reduce the friction between connected components.However,many manufacturers still use human or machine methods to inspect the bearing production,which is inefficient,costly and unreliable,especially for the miniature bearing.In this paper,we propose a machine vision system for bearing greasing procedure.The proposed system uses image processing technology to process digital image captured by a camera and can locate the bearing cage quickly and accurately.Firstly,the bearing is separated from the whole image using the RANSAC least square circle fitting method. Secondly,to facilitate the process algorithm,the bearing area is transformed into a rectangle image.Next,some novel projection methods are involved.Finally,a center map is calculated to get the final greasing location.Experimental results show that the proposed machine vision system has high accuracy and efficiency, and can fully meet the online production requirement.

关键词： Machine vision Bearings vision system Bearing greasing

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基于立体视觉的三维人脸识别

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计算机科学 2002年第z2期29卷 52-54页

作者：文雅朱玉文贾云得北京理工大学计算机科学与工程系北京100081 北京理工大学计算机科学与工程系北京100081 北京理工大学计算机科学与工程系北京100081

　　1.引言　　近年来生物特征在安全领域的应用越来越受到重视,人脸识别即为其中一个重要分支.迄今为止,人们已经提出了多种人脸识别的算法[1,2],大多数算法是针对二维图像设计的,具有识别速度快、方法直观的特点.存在的问题是很难克... 详细信息

　　1.引言　　近年来生物特征在安全领域的应用越来越受到重视,人脸识别即为其中一个重要分支.迄今为止,人们已经提出了多种人脸识别的算法[1,2],大多数算法是针对二维图像设计的,具有识别速度快、方法直观的特点.存在的问题是很难克服光照、背景及表情等因素的干扰.本文尝试通过人脸的三维数据匹配进行人脸识别,以提高识别的可靠性.由于实验设备、速度及特征提取等多方面因素的影响,关于人脸三维识别的研究工作相对较少.Gordon[3]利用人脸深度图计算出人脸表面曲线的曲率分布并进行分析,得到人脸各个器官的位置及相关几何特征;Beumier和Acheroy[4]通过对人脸投影结构光提取人脸的三维信息,将人脸侧面轮廓曲线与人脸中线附近区域的灰度分布相结合作为识别特征.我们利用人脸的三维稠密数据同人脸三维模型进行匹配来实现人脸的识别,取得了满意的效果.……

关键词：立体视觉三维人脸识别 vision system 人脸三维模型域的应用图像设计特征提取算法数据匹配实验设备识别特征识别速度生物特征三维信息轮廓曲线曲率分布几何特征灰度分布深度图可靠性

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引线键合图形识别系统中的照明系统模拟技术(英文)

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电子工业专用设备 2006年第9期35卷 43-50页

作者： Wayne Yong Cai Xiao Jin Hong Meng Ho Kulicke ＆ Sofia Pte. Ltd. 6 Serangoon North Ave 5 #03-16 Singapore 554910

A method has been proposed to model the illumination characteristics of a typical wire bonder vision system. The proposed model can be used to calibrate the illumination of the vision system to ensure the same level of illumination brightness across different machines, given the same lighting level setting. The approach to extract the machine illumination model is semi-empirical and the model provides a closed-form solution.

关键词： Illumination model Illumination calibration Lighting calibration vision system Machine vision.

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