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Active vision in robotic systems: A survey of recent developments
2011
The international journal of robotics research
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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
2011
2011 Canadian Conference on Computer and Robot Vision
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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]
2017
arXiv
pre-print
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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]
2000
Robot Manipulation of Deformable Objects
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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]
2008
Product Engineering
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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
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
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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
unpublished
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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 - ...
fatcat:c7mjiefmpvahvahpfthg7jr42a
Multi-scale Methods for Omnidirectional Stereo with Application to Real-time Virtual Walkthroughs
2012
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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
1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings
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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
1995
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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
2019
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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/unical.it/dottorati/1744
fatcat:fmbk4ves45d6vebzlpbvhloxba
THE FUTURE OF HUMANOID ROBOTS-RESEARCH AND APPLICATIONS
unpublished
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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. ...
fatcat:x2j5px62gfe2dcq4ndqbnr6riu
Veröffentlichungen und Vorträge 2000 der Mitglieder der Fakultät für Informatik
[article]
2001
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.: 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
2020
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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