Multi-object recognition and retrieval using Puma560 robot

The objective of the research described here is to develop efficient algorithm and software tools for multiobject recognition and retrieval. This research project addresses two major issues: The first issue is the identification of features and efficient methods for feature extraction which can completely describe an object. These features can be acquired using visual and ultra-sonic sensors. The second issue is the development of efficient algorithms for the retrieval of multi-objects based on their features; The methods and algorithms developed in this research are verified on a Unimation PUMA 560 robot. Non contact sensors (a vision and a range sensor) are employed for feature detection. The information from both sensors will be combined for feature extraction and feature mapping (sensor fusion). The sensors and the robot have been integrated for this purpose with a Pentium 133 Mhz Personal Computer

Object identification for robotic applications using expert systems

The objective of this project is to develop an intelligent machine vision system for robotic applications to identify engineering tools and components; The imaging system consists of a 2-D digital camera and an ultrasonic range sensor attached to the robot end effector. Images of the target objects are captured by the camera. The images are then processed to remove the signal noise and to extract the object boundary; One major objective is to develop object feature descriptions which are invariant to scaling, translation or orientation. Efficient data reduction to an array of fewer than 25 numbers is achieved by the use of Fourier and regional descriptors. One of the array elements, object thickness, is determined directly from ultrasound range measurement; An expert system was successfully developed to classify the objects based on their descriptors. The knowledge base consists of rules for searching and pattern matching. The sensors were integrated to form a working vision system for the PUMA 500 robot. The performance of the vision system was tested with a set of objects. The expert system was found to be efficient, successful, and reliable in identifying all tested objects even with signal noise being present

A study of spatial data models and their application to selecting information from pictorial databases

People have always used visual techniques to locate information in the space surrounding them. However with the advent of powerful computer systems and user-friendly interfaces it has become possible to extend such techniques to stored pictorial information. Pictorial database systems have in the past primarily used mathematical or textual search techniques to locate specific pictures contained within such databases. However these techniques have largely relied upon complex combinations of numeric and textual queries in order to find the required pictures. Such techniques restrict users of pictorial databases to expressing what is in essence a visual query in a numeric or character based form. What is required is the ability to express such queries in a form that more closely matches the user's visual memory or perception of the picture required. It is suggested in this thesis that spatial techniques of search are important and that two of the most important attributes of a picture are the spatial positions and the spatial relationships of objects contained within such pictures. It is further suggested that a database management system which allows users to indicate the nature of their query by visually placing iconic representations of objects on an interface in spatially appropriate positions, is a feasible method by which pictures might be found from a pictorial database. This thesis undertakes a detailed study of spatial techniques using a combination of historical evidence, psychological conclusions and practical examples to demonstrate that the spatial metaphor is an important concept and that pictures can be readily found by visually specifying the spatial positions and relationships between objects contained within them