Showing papers by "Takeo Kanade published in 1981"

An iterative image registration technique with an application to stereo vision

Abstract: Image registration finds a variety of applications in computer vision. Unfortunately, traditional image registration techniques tend to be costly. We present a new image registration technique that makes use of the spatial intensity gradient of the images to find a good match using a type of Newton-Raphson iteration. Our technique is taster because it examines far fewer potential matches between the images than existing techniques Furthermore, this registration technique can be generalized to handle rotation, scaling and shearing. We show how our technique can be adapted tor use in a stereo vision system.

Non-contact visual proximity sensing apparatus

Abstract: An array of light sources transmit a series of light beams onto an object and the reflected light beams are focussed on a light responsive transducer. The output signals of the transducer are processed to determine the location and orientation of the object. The location and orientation information in turn is available to control the operation of a tool or manipulator relative to the object.

Noncontact Visual Three-Dimensional Ranging Devices

Abstract: This paper describes design and development of two types of 3-D ranging devices for robotic applications: both are noncontact, optical devices based on active illumination and triangulation. One is a laser scanning ranging device for medium-range (50cm), and the other is a proximity range sensor for short range (5 cm). The features of the devices are that both use analog area position sensor chips and that they provide simple, fast, accurate, non-contact visual sensing of range information.© (1981) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Design concept of direct-drive manipulators using rare-earth DC torque motors

Abstract: A direct-drive robotic manipulator (CMU DD Arm) is being developed at Carnegie-Mellon University. This paper describes the design concept and theory of this new mechanical arm based on the direct-drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanisms between the motors and their loads, such as reducers and chain belts, and construct a simple mechanism (direct-drive) where the arm links are directly coupled to the motor rotors and stators. This elimination can lead to excellent performance: no backlash, low fraction, low inertia, low compliance and high reliability.

Data Base Support For Automated Photo Interpretation

Abstract: This paper is concerned with the use of a database to support automated photo interpretation. The function of the database is to provide an environment in which to perform photo interpretation utilizing software tools, and represent domain knowledge about the scenes being interpreted. Within the framework of the database, image interpretation systems use knowledge stored as map, terrain, or scene descriptions to provide structural or spatial constraints to guide human and machine processing. We describe one such system under development, MAPS (Map Assisted Photo interpretation System), and give some general rationales for its design and implementation.© (1981) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.