3,989 research outputs found

    Towards a Vision-Based Mobile Manipulator for Autonomous Chess Gameplay

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    With the rise of robotic arms in both industrial and research applications, a growing need is observed for autonomous robotic arm applications. This thesis aims to provide an example case of this need and also to showcase the possibility and limitations of vision-based solutions, specifically in automating chess. The focus is on developing a modular system that is able to autonomously recognize chessboard, detect and manipulate chess pieces. The modular design allows for further exploration into autonomous mobile manipulators. The key components include chessboard recognition using fiducial markers to facilitate accurate chessboard recognition and utilizing image processing techniques like segmentation, absolute difference matching, and perspective warping to analyze and extract meaningful information. By mounting a camera above the chessboard, it enables the detection algorithm to accurately capture and analyze the most important information about the environment to determine the current state of the game. Using this information, human move detection is enabled. Then, a custom protocol is utilized to communicate between the detection algorithm and the chess engine, encapsulating information about the game state changes within the system. The chess engine serves the purpose of game analysis and provides legal moves for the robot manipulator to execute. Manipulation happens through careful motion planning and execution, ensuring the safety of the robot and its environment. Extensive evaluation proves that the system demonstrates high accuracy and success rates for piece manipulation and move detection

    Towards automated capture of 3D foot geometry for custom orthoses

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    This thesis presents a novel method of capturing 3D foot geometry from images for custom shoe insole manufacture. Orthopedic footwear plays an important role as a treatment and prevention of foot conditions associated with diabetes. Through the use of customized shoe insoles, a podiatrist can provide a means to better distribute the pressure around the foot, and can also correct the biomechanics of the foot. Different foot scanners are used to obtain the geometric plantar surface of foot, but are expensive and more generic in nature. The focus of this thesis is to build 3D foot structure from a pair of calibrated images. The process begins with considering a pair of good images of the foot, obtained from the scanner utility frame. The next step involves identifying corners or features in the images. Correlation between the selected features forms the fundamental part of epipolar analysis. Rigorous techniques are implemented for robust feature matching. A 3D point cloud is then obtained by applying the 8-point algorithm and linear 3D triangulation method. The advantage of this system is quick capture of foot geometry and minimal intervention from the user. A reconstructed 3D point cloud of foot is presented to verify this method as inexpensive and more suited to the needs of the podiatrist

    Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

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    This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Facultad de Informátic

    Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

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    This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Facultad de Informátic

    RCDN -- Robust X-Corner Detection Algorithm based on Advanced CNN Model

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    Accurate detection and localization of X-corner on both planar and non-planar patterns is a core step in robotics and machine vision. However, previous works could not make a good balance between accuracy and robustness, which are both crucial criteria to evaluate the detectors performance. To address this problem, in this paper we present a novel detection algorithm which can maintain high sub-pixel precision on inputs under multiple interference, such as lens distortion, extreme poses and noise. The whole algorithm, adopting a coarse-to-fine strategy, contains a X-corner detection network and three post-processing techniques to distinguish the correct corner candidates, as well as a mixed sub-pixel refinement technique and an improved region growth strategy to recover the checkerboard pattern partially visible or occluded automatically. Evaluations on real and synthetic images indicate that the presented algorithm has the higher detection rate, sub-pixel accuracy and robustness than other commonly used methods. Finally, experiments of camera calibration and pose estimation verify it can also get smaller re-projection error in quantitative comparisons to the state-of-the-art.Comment: 15 pages, 8 figures and 4 tables. Unpublished further research and experiments of Checkerboard corner detection network CCDN (arXiv:2302.05097) and application exploration for robust camera calibration (https://ieeexplore.ieee.org/abstract/document/9428389

    Inflexibility of experts – Reality or myth? Quantifying the Einstellung effect in chess masters

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    How does the knowledge of experts affect their behaviour in situations that require unusual methods of dealing? One possibility, loosely originating in research on creativity and skill acquisition, is that an increase in expertise can lead to inflexibility of thought due to automation of procedures. Yet another possibility, based on expertise research, is that experts’ knowledge leads to flexibility of thought. We tested these two possibilities in a series of experiments using the Einstellung (set) effect paradigm. Chess players tried to solve problems that had both a familiar but non-optimal solution and a better but less familiar one. The more familiar solution induced the Einstellung (set) effect even in experts, preventing them from finding the optimal solution. The presence of the non-optimal solution reduced experts' problem solving ability was reduced to about that of players three standard deviations lower in skill level by the presence of the non-optimal solution. Inflexibility of thought induced by prior knowledge (i.e., the blocking effect of the familiar solution) was shown by experts but the more expert they were, the less prone they were to the effect. Inflexibility of experts is both reality and myth. But the greater the level of expertise, the more of a myth it becomes

    ANALYSIS OF CHESS GRAND MASTERS

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    In chess, in order to determine the status of chess players and their ranks in classification, World Chess Federation awards players with titles - provided that they fulfill certain criteria. The greatest title that can be earned is the title of Grand Master. In this study, age of becoming Chess Grand Masters has been studied. The factors which have caused the age of becoming a Great Master to fall rapidly in recent years have been researched. It has been found that birth dates close to our day and other social opportunities are influential in the fall of the age of Grand Masters.  Article visualizations

    Recognition of Pieces on Chessboard from Photography on Mobile Device

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    Tato práce řeši mobilní aplikaci vytvořenou pro platformu Android, která rozpoznává figury z fotografie šachovnice. Aplikace vybere z galerie zařízení fotografii, kterou pak spracuje a určí obsah jednotlivých políček, tedy zda obsahuje černou figuru, bílou figuru, a nebo je políčko prázdné. Problém je řešen ve dvěch fázách. První je detekce šachovnicových přímek pro určení polohy jednotlivých políček, druhá pak detekce figury. Výsledkem této práce je funkční Android aplikace.The aim of this bachelor thesis is a mobile application for Android platform, which recognises chessboard pieces from photography of the chessboard. Application uses photography from gallery and determine the content of every single chessboard cell, thus if it contains black or white piece, or if it is empty. The task is solved in two stages. First is the detection of chessboard lines to determine the position of chessboard cells, second is the detection of chessboard pieces. The result of this thesis is working Android application.
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