Towards building a team of intelligent robots

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects)

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed

Algorithmic Perception of Vertices in Sketched Drawings of Polyhedral Shapes

In this article, visual perception principles were used to build an artificial perception model aimed at developing an algorithm for detecting junctions in line drawings of polyhedral objects that are vectorized from hand-drawn sketches. The detection is performed in two dimensions (2D), before any 3D model is available and minimal information about the shape depicted by the sketch is used. The goal of this approach is to not only detect junctions in careful sketches created by skilled engineers and designers but also detect junctions when skilled people draw casually to quickly convey rough ideas. Current approaches for extracting junctions from digital images are mostly incomplete, as they simply merge endpoints that are near each other, thus ignoring the fact that different vertices may be represented by different (but close) junctions and that the endpoints of lines that depict edges that share a common vertex may not necessarily be close to each other, particularly in quickly sketched drawings. We describe and validate a new algorithm that uses these perceptual findings to merge tips of line segments into 2D junctions that are assumed to depict 3D vertices

Perimeter detection in sketched drawings of polyhedral shapes

Ponència presentada al STAG17: Smart tools and Applications in Graphics, celebrat a Catania (Itàlia) 11-12 setembre 2017This paper describes a new “envelope” approach for detecting object perimeters in line-drawings vectorised from sketches of polyhedral objects. Existing approaches for extracting contours from digital images are unsuitable for Sketch-Based Modelling, as they calculate where the contour is, but not which elements of the line-drawing belong to it. In our approach, the perimeter is described in terms of lines and junctions (including intersections and T-junctions) of the original line drawing