A new strategy for improving vision based tracking accuracy based on utilization of camera calibration information

Abstract— Camera calibration is one of the essential components of a vision based tracking system where the objective is to extract three dimensional information from a set of two dimensional frames. The information extracted from the calibration process is significant for examining the accuracy of the vision sensor, and thus further for estimating its effectiveness as a tracking system in real applications. This paper introduces another use for this information in which the proper location of the camera can be predicted. Anew mathematical formula based on utilizing the extracted calibration information was used for finding the optimum location for the camera, which provides the best detection accuracy. Moreover, the calibration information was also used for selecting the proper image Denoising filter. The results obtained proved the validity of the proposed formula in finding the desired camera location where the smallest detection errors can be produced. Also, results showed that the proper selection of the filter parameters led to a considerable enhancement in the overall accuracy of the camera, reducing the overall detection error by 0.2 mm

原子力プラントのライフサイクル情報管理に基づく廃炉シミュレーションに関する研究

Tohoku University博士（情報科学）thesi

An automatic vision guided position controller in a conveyor belt pick and place system

Thesis (Master)--Izmir Institute of Technology, Computer Engineering, Izmir, 2006Includes bibliographical references (leaves: 64-65)Text in English; Abstract: Turkish and Englishxii, 67 leavesAn automatic vision guided position controller system is developed as for possible applications such as handling and packaging that require position and orientation control. The aim here is to minimize the production cycle time, and to improve the economic performance and system productivity. The system designed can be partitioned into five major parts: vision module, pneumatic automation module, manipulator, conveyor-belt and a software that manages and integrates these modules. The developed software captures raw image data from a camera that is connected to a PC via usb port. Using image processing methods, this software determines the proper coordinates and pose of the moving parts on the conveyor belt in real time. The pick and place system locates the parts to the packaging area as part.s predefined orientation. The software communicates with a controller card via serial port, manages and synchronizes the peripherals (conveyor belt stepper motors- pneumatic valves,etc) of the system. C programming language is used in the implementation. OpenCV library is utilized for image acquisition. The system has the following characteristics: The Conveyor belt runs with a constant speed and objects on the conveyor belt may have arbitrary position and orientation. The vision system detects parts with their position and orientation on the moving conveyor belt based on a reference position. The manipulator picks the part and then corrects its position comparing the information obtained by vision system with predefined position, and it places the object to the packaging area. System can be trained for the desired position of the object

Visual Servoing in Robotics

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)