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Proceedings ArticleDOI

Automated monocular vision based system for picking textureless objects

02 Jul 2015-Artificial Intelligence Review (ACM)-pp 64

TL;DR: An Autonomous Machine Vision system which grasps a textureless object from a clutter in a single plane, rearranges it for proper placement and then places it using vision using a unique vision-based pose estimation algorithm, collision free path planning and dynamic Change-Over algorithm for final placement.

AbstractThis paper proposes an Autonomous Machine Vision system which grasps a textureless object from a clutter in a single plane, rearranges it for proper placement and then places it using vision. It contributes to a unique vision-based pose estimation algorithm, collision free path planning and dynamic Change-Over algorithm for final placement.

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Citations
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Proceedings ArticleDOI
13 Jul 2016
TL;DR: This proposed system develops 3D environment model utilizing mono-vision system, which is developed through capturing multiple shots from different locations and updated continuously based on the changes in the environment and the location of the robot.
Abstract: Mobile robot system will be an important asset in our future. Mobile robot not only has to execute predefined tasks programmed with, but also it must explore the unknown environment that might be pushed to work in. In this paper we propose, implement and test a new model for mobile robot environment using mono-vision system. This proposed system develops 3D environment model utilizing mono-vision system. The model is developed through capturing multiple shots from different locations. The 3D model describes the distance and the angle of objects with respect to the robot. Finally, the mobile robot will utilize this model to navigate its environment. This is achieved through projecting the 3D model into the motion floor and identifying the obstacles surrounding the robot. Then, the robot will avoid any object in its motion line. Most importantly, the model is updated continuously based on the changes in the environment and the location of the robot.

1 citations


Cites background from "Automated monocular vision based sy..."

  • ...On the other hand, some research explored mono-vision system for mobile robots for predefined applications [14,21, 23]....

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References
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Book
01 Jan 2000
Abstract: From the Publisher: A basic problem in computer vision is to understand the structure of a real world scene given several images of it. Recent major developments in the theory and practice of scene reconstruction are described in detail in a unified framework. The book covers the geometric principles and how to represent objects algebraically so they can be computed and applied. The authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly.

15,158 citations

Journal ArticleDOI
ZhenQiu Zhang1
TL;DR: A flexible technique to easily calibrate a camera that only requires the camera to observe a planar pattern shown at a few (at least two) different orientations is proposed and advances 3D computer vision one more step from laboratory environments to real world use.
Abstract: We propose a flexible technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one more step from laboratory environments to real world use.

11,465 citations


"Automated monocular vision based sy..." refers methods in this paper

  • ...Step 1: CALIBRATION:calibrate the workspace using Zhang’s calibration [6]....

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  • ...Zhengyou Zhang proposed camera calibration[6] which is one of the known techniques used....

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  • ...Thereafter, the calculated image coordinates of the center are then converted to world coordinates using Zhang’s calibration[6]....

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Journal ArticleDOI
Abstract: All digitizing methods, as a general rule, record lines with far more data than is necessary for accurate graphic reproduction or for computer analysis. Two algorithms to reduce the number of points required to represent the line and, if desired, produce caricatures, are presented and compared with the most promising methods so far suggested. Line reduction will form a major part of automated generalization. Regle generale, les methodes numeriques enregistrent des lignes avec beaucoup plus de donnees qu'il n'est necessaire a la reproduction graphique precise ou a la recherche par ordinateur. L'auteur presente deux algorithmes pour reduire le nombre de points necessaires pour representer la ligne et produire des caricatures si desire, et les compare aux methodes les plus prometteuses suggerees jusqu'ici. La reduction de la ligne constituera une partie importante de la generalisation automatique.

3,476 citations

Book
01 Apr 2001

1,012 citations