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Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
The aim of sensor planning is to determine the pose and settings of vision sensors for undertaking a vision-based task that usually requires obtaining multiple views of the object to be manipulated.  ...  This paper describes such problems arising from many applications, e.g. object recognition and modeling, site reconstruction and inspection, surveillance, tracking and search, as well as robotic manipulation  ...  The most typical task of non-model-based application is for target modeling (Banta et al. 2000) .  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

Wavelet Model-based Stereo for Fast, Robust Face Reconstruction

Alan Brunton, Jochen Lang, Eric Dubois, Chang Shu
2011 2011 Canadian Conference on Computer and Robot Vision  
When reconstructing a specific type or class of object using stereo, we can leverage prior knowledge of the shape of that type of object. A popular class of object to reconstruct is the human face.  ...  Additionally, we obtain a shape in an parameterized and corresponded shape space, making it ready for further processing such as tracking, recognition or statistical analysis.  ...  The authors would like to thank Houman Rastgar for his participation as a test subject.  ... 
doi:10.1109/crv.2011.53 dblp:conf/crv/BruntonLDS11 fatcat:u22bm4orsvbgdfc4r62qsmx4ry

Haptic Assembly and Prototyping: An Expository Review [article]

Morad Behandish, Horea T. Ilies
2017 arXiv   pre-print
Such models must 1) accommodate the inherent geometric complexities faced when assembling objects of arbitrary shape; and 2) conform to the computation time limitation imposed by the notorious frame rate  ...  The simultaneous fulfillment of these competing objectives is far from trivial.  ...  for objects of arbitrary shape.  ... 
arXiv:1712.00750v1 fatcat:gwkmw5qbqbgb5feiwzzp2qbkli

Force- and Vision-Based Detection of Contact State Transitions [chapter]

F. Abegg, A. Remde, D. Henrich
2000 Robot Manipulation of Deformable Objects  
A new and systematic basic approach to force-and vision-based robot manipulation of deformable (non-rigid) linear objects is introduced.  ...  This approach reduces the computational needs by using a simple state-oriented model of the objects.  ...  For example, for rigid polyhedral objects, the manipulation skills serve as transitions between contact states, and they simplify programming for a model-based manipulation system [14] .  ... 
doi:10.1007/978-1-4471-0749-1_8 fatcat:yws5t2e2pnevhj6q7kumjwo4gy

Using Hand Motions in Conceptual Shape Design: Theories, Methods and Tools [chapter]

Edit Varga
2008 Product Engineering  
Thanks for the presents and for the music. I am thankful to Joris Vergeest for providing me with the motion tracking equipment and for his immediate answers on my questions.  ...  My appreciation also goes to my daily supervisor, Zoltán Rusák for helping me continuously from the smallest to the largest issues of my research.  ...  Tracking of the positions and orientations of the hand can be by visionbased and non-vision-based methods such as magnetic, acoustic, and inertial tracking.  ... 
doi:10.1007/978-1-4020-8200-9_18 fatcat:otyrcd3qevbyde6bv6iauzkqay

Robust visual servoing: examination of cameras under different illumination conditions

A. Bachem, T. Muller, H.-H. Nagel
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
Abstract| Experience has shown that changes in illumination conditions may in uence the robustness of robot control based on machine vision even if such illumination changes appear practically negligible  ...  The stop of CCD cameras had to be adjusted manually, however, whereas an automatic adaptation to the current lighting conditions could be implemented for the other camera type, thus allowing to deal automatically  ...  Polyhedral CAD models have been created for the car battery and the gripper.  ... 
doi:10.1109/robot.2001.932559 dblp:conf/icra/BachemMN01 fatcat:mmtjzr5ndffqhgtnq2aajgua2e

A new 3D modelling paradigm for discrete model

Presentata Da:, Flavio Bertini
Recent researches introduce a new automatic and assisted modelling interface known as Sketch-Based Interfaces for Modelling (SBIM), that can be considered a subclass of the TUI.  ...  Procedural modelling: is a technique assisted by software tools able to automatically or semi-automatically generate the desired geometry based on a set of rules.  ...  In this it is analogous to mathematics, and indeed the "science" part of computer science is, for the most part mathematical in spirit. -Dennis Ritchie -  ... 

Multi-scale Methods for Omnidirectional Stereo with Application to Real-time Virtual Walkthroughs

Alan P Brunton, Université D'Ottawa / University Of Ottawa, Université D'Ottawa / University Of Ottawa
Our stereo reconstruction algorithm is based on a novel application of distance transforms to multi-scale matching.  ...  The main problem addressed in this thesis is known as stereo reconstruction: reconstructing the geometry of a scene or object from two or more images of that scene.  ...  Tonko and Nagel [81] used model-based stereo of non-polyhedral objects for automatic disassembly tasks. Zhao et al.  ... 
doi:10.20381/ruor-6236 fatcat:bkk2gerehnh7zgzq7k4uknsueu

Teleprogramming: overcoming communication delays in remote manipulation

J. Funda, R.P. Paul
1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings  
1 Total task completion time versus task length for elementary task length t = 1 sec and different values of the communication delay T  ...  to adopt a polyhedral, boundary-representation based graphical model of the world.  ...  ., constructive solid geometry (eSG), generalized cylinders), polyhedral models are widely used and consequently a variety of algorithms exist for polyhedral analysis.  ... 
doi:10.1109/icsmc.1990.142248 fatcat:rzbdajfh55c4pblr4cu6tsgqxm

Real-time motion tracking: a case study in parallelizing vision algorithms

Scott Bulmer
The motion tracking system was able to track moving objects at the rate of about 4 frames per second.  ...  The model-based motion tracking system uses detected line segments from the image as features, and tracks these features with a least-squares solution to match the model with the correct feature configuration  ...  [2] tracked moving objects in a scene which contained only polyhedral objects (i.e., blocks-world scenes). 3D polyhedral models were employed using vertices as features.  ... 
doi:10.14288/1.0051363 fatcat:wpce2pzjzneapcktmm6rvn7v74

Innovative manipulation techniques for underwater robotics

Domenico Rizzo, Franco Furgiuele, Fabio Bruno
Geometric model of the optical-stereo cameraThe mathematical model used to describe the geometry of the optical stereo camera is the well-known pinhole camera model.  ...  simplify the workflow by means of semi-automatized activities.  ...  The operators viewed the experiment through the forward video camera of a VideoRay Pro3 micro-ROV ( Figure 4 . 36).  ... 
doi:10.13126/ fatcat:fmbk4ves45d6vebzlpbvhloxba


Riadh Zaier, Riadh Zaier
The editor of the book has extensive research and development experience, and he has patents and publications in the area of humanoid robotics, and his experience is reflected in editing the content of  ...  As for readers, this license allows users to download, copy and build upon published chapters even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum  ...  Given the geometrical model of the can, the position/orientation of it was calculated by using the segmentation based stereo method.  ... 

Veröffentlichungen und Vorträge 2000 der Mitglieder der Fakultät für Informatik [article]

Fakultät Für Informatik
.: The KeY Approach: Integrating Object Oriented Design and Formal Verification. /51/ Ateyeh, K.; Mülle, J.; Lockemann, P.: Modulare Aufbereitung von multimedialen Lerninhalten für eine heterogene Lernumgebung  ...  .: Model-Based Stereo-Tracking of Non-Polyhedral Objects for Automatic Disassembly Experiments.  ...  -H.: Parallelizing a CAD-Model-Based Object Localization for Initialization of Track- ing in Visual Servoing. In: Proceedings of the IEEE International Conference on Cluster Computing.  ... 
doi:10.5445/ir/1000022875 fatcat:mvtnxo2y4rghna7erpgnbndzem

Engineering morphogenesis of Marchantia polymorpha gemmae

Mihails Delmans, Apollo-University Of Cambridge Repository, Apollo-University Of Cambridge Repository, James Hasseloff
As such, they are well-suited for fluorescent microscopy and the collection of gene expression data.  ...  I introduced novel sample preparation and time-lapse imaging assays for Marchantia gemmae along with image- processing methods for the estimation of tissue expansion rates with sub-cellular resolution.  ...  In order to do this automatically for every frame of a time-lapse image, a notch tracking algorithm should be developed.  ... 
doi:10.17863/cam.51871 fatcat:qfqs2h4udzaxvmxvvuvqlxmb4m