A systems engineering approach to robotic bin picking

In recent times the presence of vision and robotic systems in industry has become common place, but in spite of many achievements a large range of industrial tasks still remain unsolved due to the lack of flexibility of the vision systems when dealing with highly adaptive manufacturing environments. An important task found across a broad range of modern flexible manufacturing environments is the need to present parts to automated machinery from a supply bin. In order to carry out grasping and manipulation operations safely and efficiently we need to know the identity, location and spatial orientation of the objects that lie in an unstructured heap in a bin. Historically, the bin picking problem was tackled using mechanical vibratory feeders where the vision feedback was unavailable. This solution has certain problems with parts jamming and more important they are highly dedicated. In this regard if a change in the manufacturing process is required, the changeover may include an extensive re-tooling and a total revision of the system control strategy (Kelley et al., 1982). Due to these disadvantages modern bin picking systems perform grasping and manipulation operations using vision feedback (Yoshimi & Allen, 1994). Vision based robotic bin picking has been the subject of research since the introduction of the automated vision controlled processes in industry and a review of existing systems indicates that none of the proposed solutions were able to solve this classic vision problem in its generality. One of the main challenges facing such a bin picking system is its ability to deal with overlapping objects. The object recognition in cluttered scenes is the main objective of these systems and early approaches attempted to perform bin picking operations for similar objects that are jumbled together in an unstructured heap using no knowledge about the pose or geometry of the parts (Birk et al., 1981). While these assumptions may be acceptable for a restricted number of applications, in most practical cases a flexible system must deal with more than one type of object with a wide scale of shapes. A flexible bin picking system has to address three difficult problems: scene interpretation, object recognition and pose estimation. Initial approaches to these tasks were based on modeling parts using the 2D surface representations. Typical 2D representations include invariant shape descriptors (Zisserman et al., 1994), algebraic curves (Tarel & Cooper, 2000), 2 Name of the book (Header position 1,5) conics (Bolles & Horaud, 1986; Forsyth et al., 1991) and appearance based models (Murase & Nayar, 1995; Ohba & Ikeuchi, 1997). These systems are generally better suited to planar object recognition and they are not able to deal with severe viewpoint distortions or objects with complex shapes/textures. Also the spatial orientation cannot be robustly estimated for objects with free-form contours. To address this limitation most bin picking systems attempt to recognize the scene objects and estimate their spatial orientation using the 3D information (Fan et al., 1989; Faugeras & Hebert, 1986). Notable approaches include the use of 3D local descriptors (Ansar & Daniilidis, 2003; Campbell & Flynn, 2001; Kim & Kak, 1991), polyhedra (Rothwell & Stern, 1996), generalized cylinders (Ponce et al., 1989; Zerroug & Nevatia, 1996), super-quadrics (Blane et al., 2000) and visual learning methods (Johnson & Hebert, 1999; Mittrapiyanuruk et al., 2004). The most difficult problem for 3D bin picking systems that are based on a structural description of the objects (local descriptors or 3D primitives) is the complex procedure required to perform the scene to model feature matching. This procedure is usually based on complex graph-searching techniques and is increasingly more difficult when dealing with object occlusions, a situation when the structural description of the scene objects is incomplete. Visual learning methods based on eigenimage analysis have been proposed as an alternative solution to address the object recognition and pose estimation for objects with complex appearances. In this regard, Johnson and Hebert (Johnson & Hebert, 1999) developed an object recognition scheme that is able to identify multiple 3D objects in scenes affected by clutter and occlusion. They proposed an eigenimage analysis approach that is applied to match surface points using the spin image representation. The main attraction of this approach resides in the use of spin images that are local surface descriptors; hence they can be easily identified in real scenes that contain clutter and occlusions. This approach returns accurate results but the pose estimation cannot be inferred, as the spin images are local descriptors and they are not robust to capture the object orientation. In general the pose sampling for visual learning methods is a problem difficult to solve as the numbers of views required to sample the full 6 degree of freedom for object pose is prohibitive. This issue was addressed in the paper by Edwards (Edwards, 1996) when he applied eigenimage analysis to a one-object scene and his approach was able to estimate the pose only in cases where the tilt angle was limited to 30 degrees with respect to the optical axis of the sensor. In this chapter we describe the implementation of a vision sensor for robotic bin picking where we attempt to eliminate the main problem faced by the visual learning methods, namely the pose sampling problem. This paper is organized as follows. Section 2 outlines the overall system. Section 3 describes the implementation of the range sensor while Section 4 details the edge-based segmentation algorithm. Section 5 presents the viewpoint correction algorithm that is applied to align the detected object surfaces perpendicular on the optical axis of the sensor. Section 6 describes the object recognition algorithm. This is followed in Section 7 by an outline of the pose estimation algorithm. Section 8 presents a number of experimental results illustrating the benefits of the approach outlined in this chapter

Semi-Automated Segmentation of Microbes in Color Images

ABSTRACT The goal of this work is to develop a system that can semi-automate the detection of multicolored foreground objects in digitized color images that contain complex and very noisy backgrounds. Although color image segmentation is considered a general problem, our application is microbiology where various colored stains are used to reveal information about the microbes without cultivation. Instead of providing a simple threshold, the proposed system offers an interactive environment whereby the user chooses multiple sample points to define the range of color pixels comprising the foreground microbes of interest. The system then uses the color and spatial distances of these target points to segment the microbes from the confusing background of pixels whose RGB values lie outside the newly defined range and finds the boundary of the foreground microbes using region-growing and mathematical morphology. Some other image processing methods are also applied to enhance the resultant image containing the colored microbes against a noise-free background. The prototype performs with 98% accuracy on a test set compared to manually edited ground truth data. The system described here will have many applications in image processing and analysis where one needs to segment typical pixel regions of similar but non-identical colors

Fast unsupervised multiresolution color image segmentation using adaptive gradient thresholding and progressive region growing

In this thesis, we propose a fast unsupervised multiresolution color image segmentation algorithm which takes advantage of gradient information in an adaptive and progressive framework. This gradient-based segmentation method is initialized by a vector gradient calculation on the full resolution input image in the CIE L*a*b* color space. The resultant edge map is used to adaptively generate thresholds for classifying regions of varying gradient densities at different levels of the input image pyramid, obtained through a dyadic wavelet decomposition scheme. At each level, the classification obtained by a progressively thresholded growth procedure is combined with an entropy-based texture model in a statistical merging procedure to obtain an interim segmentation. Utilizing an association of a gradient quantized confidence map and non-linear spatial filtering techniques, regions of high confidence are passed from one level to another until the full resolution segmentation is achieved. Evaluation of our results on several hundred images using the Normalized Probabilistic Rand (NPR) Index shows that our algorithm outperforms state-of the art segmentation techniques and is much more computationally efficient than its single scale counterpart, with comparable segmentation quality

Data mining based learning algorithms for semi-supervised object identification and tracking

Sensor exploitation (SE) is the crucial step in surveillance applications such as airport security and search and rescue operations. It allows localization and identification of movement in urban settings and can significantly boost knowledge gathering, interpretation and action. Data mining techniques offer the promise of precise and accurate knowledge acquisition techniques in high-dimensional data domains (and diminishing the “curse of dimensionality” prevalent in such datasets), coupled by algorithmic design in feature extraction, discriminative ranking, feature fusion and supervised learning (classification). Consequently, data mining techniques and algorithms can be used to refine and process captured data and to detect, recognize, classify, and track objects with predictable high degrees of specificity and sensitivity. Automatic object detection and tracking algorithms face several obstacles, such as large and incomplete datasets, ill-defined regions of interest (ROIs), variable scalability, lack of compactness, angular regions, partial occlusions, environmental variables, and unknown potential object classes, which work against their ability to achieve accurate real-time results. Methods must produce fast and accurate results by streamlining image processing, data compression and reduction, feature extraction, classification, and tracking algorithms. Data mining techniques can sufficiently address these challenges by implementing efficient and accurate dimensionality reduction with feature extraction to refine incomplete (ill-partitioning) data-space and addressing challenges related to object classification, intra-class variability, and inter-class dependencies. A series of methods have been developed to combat many of the challenges for the purpose of creating a sensor exploitation and tracking framework for real time image sensor inputs. The framework has been broken down into a series of sub-routines, which work in both series and parallel to accomplish tasks such as image pre-processing, data reduction, segmentation, object detection, tracking, and classification. These methods can be implemented either independently or together to form a synergistic solution to object detection and tracking. The main contributions to the SE field include novel feature extraction methods for highly discriminative object detection, classification, and tracking. Also, a new supervised classification scheme is presented for detecting objects in urban environments. This scheme incorporates both novel features and non-maximal suppression to reduce false alarms, which can be abundant in cluttered environments such as cities. Lastly, a performance evaluation of Graphical Processing Unit (GPU) implementations of the subtask algorithms is presented, which provides insight into speed-up gains throughout the SE framework to improve design for real time applications. The overall framework provides a comprehensive SE system, which can be tailored for integration into a layered sensing scheme to provide the war fighter with automated assistance and support. As more sensor technology and integration continues to advance, this SE framework can provide faster and more accurate decision support for both intelligence and civilian applications

Probabilistic framework for image understanding applications using Bayesian Networks

Machine learning algorithms have been successfully utilized in various systems/devices. They have the ability to improve the usability/quality of such systems in terms of intelligent user interface, fast performance, and more importantly, high accuracy. In this research, machine learning techniques are used in the field of image understanding, which is a common research area between image analysis and computer vision, to involve higher processing level of a target image to make sense of the scene captured in it. A general probabilistic framework for image understanding where topics associated with (i) collection of images to generate a comprehensive and valid database, (ii) generation of an unbiased ground-truth for the aforesaid database, (iii) selection of classification features and elimination of the redundant ones, and (iv) usage of such information to test a new sample set, are discussed. Two research projects have been developed as examples of the general image understanding framework; identification of region(s) of interest, and image segmentation evaluation. These techniques, in addition to others, are combined in an object-oriented rendering system for printing applications. The discussion included in this doctoral dissertation explores the means for developing such a system from an image understanding/ processing aspect. It is worth noticing that this work does not aim to develop a printing system. It is only proposed to add some essential features for current printing pipelines to achieve better visual quality while printing images/photos. Hence, we assume that image regions have been successfully extracted from the printed document. These images are used as input to the proposed object-oriented rendering algorithm where methodologies for color image segmentation, region-of-interest identification and semantic features extraction are employed. Probabilistic approaches based on Bayesian statistics have been utilized to develop the proposed image understanding techniques

Two and three dimensional segmentation of multimodal imagery

The role of segmentation in the realms of image understanding/analysis, computer vision, pattern recognition, remote sensing and medical imaging in recent years has been significantly augmented due to accelerated scientific advances made in the acquisition of image data. This low-level analysis protocol is critical to numerous applications, with the primary goal of expediting and improving the effectiveness of subsequent high-level operations by providing a condensed and pertinent representation of image information. In this research, we propose a novel unsupervised segmentation framework for facilitating meaningful segregation of 2-D/3-D image data across multiple modalities (color, remote-sensing and biomedical imaging) into non-overlapping partitions using several spatial-spectral attributes. Initially, our framework exploits the information obtained from detecting edges inherent in the data. To this effect, by using a vector gradient detection technique, pixels without edges are grouped and individually labeled to partition some initial portion of the input image content. Pixels that contain higher gradient densities are included by the dynamic generation of segments as the algorithm progresses to generate an initial region map. Subsequently, texture modeling is performed and the obtained gradient, texture and intensity information along with the aforementioned initial partition map are used to perform a multivariate refinement procedure, to fuse groups with similar characteristics yielding the final output segmentation. Experimental results obtained in comparison to published/state-of the-art segmentation techniques for color as well as multi/hyperspectral imagery, demonstrate the advantages of the proposed method. Furthermore, for the purpose of achieving improved computational efficiency we propose an extension of the aforestated methodology in a multi-resolution framework, demonstrated on color images. Finally, this research also encompasses a 3-D extension of the aforementioned algorithm demonstrated on medical (Magnetic Resonance Imaging / Computed Tomography) volumes

Image segmentation, evaluation, and applications

This thesis aims to advance research in image segmentation by developing robust techniques for evaluating image segmentation algorithms. The key contributions of this work are as follows. First, we investigate the characteristics of existing measures for supervised evaluation of automatic image segmentation algorithms. We show which of these measures is most effective at distinguishing perceptually accurate image segmentation from inaccurate segmentation. We then apply these measures to evaluating four state-of-the-art automatic image segmentation algorithms, and establish which best emulates human perceptual grouping. Second, we develop a complete framework for evaluating interactive segmentation algorithms by means of user experiments. Our system comprises evaluation measures, ground truth data, and implementation software. We validate our proposed measures by showing their correlation with perceived accuracy. We then use our framework to evaluate four popular interactive segmentation algorithms, and demonstrate their performance. Finally, acknowledging that user experiments are sometimes prohibitive in practice, we propose a method of evaluating interactive segmentation by algorithmically simulating the user interactions. We explore four strategies for this simulation, and demonstrate that the best of these produces results very similar to those from the user experiments

Semantic multimedia modelling & interpretation for search & retrieval

With the axiomatic revolutionary in the multimedia equip devices, culminated in the proverbial proliferation of the image and video data. Owing to this omnipresence and progression, these data become the part of our daily life. This devastating data production rate accompanies with a predicament of surpassing our potentials for acquiring this data. Perhaps one of the utmost prevailing problems of this digital era is an information plethora. Until now, progressions in image and video retrieval research reached restrained success owed to its interpretation of an image and video in terms of primitive features. Humans generally access multimedia assets in terms of semantic concepts. The retrieval of digital images and videos is impeded by the semantic gap. The semantic gap is the discrepancy between a user’s high-level interpretation of an image and the information that can be extracted from an image’s physical properties. Content- based image and video retrieval systems are explicitly assailable to the semantic gap due to their dependence on low-level visual features for describing image and content. The semantic gap can be narrowed by including high-level features. High-level descriptions of images and videos are more proficient of apprehending the semantic meaning of image and video content. It is generally understood that the problem of image and video retrieval is still far from being solved. This thesis proposes an approach for intelligent multimedia semantic extraction for search and retrieval. This thesis intends to bridge the gap between the visual features and semantics. This thesis proposes a Semantic query Interpreter for the images and the videos. The proposed Semantic Query Interpreter will select the pertinent terms from the user query and analyse it lexically and semantically. The proposed SQI reduces the semantic as well as the vocabulary gap between the users and the machine. This thesis also explored a novel ranking strategy for image search and retrieval. SemRank is the novel system that will incorporate the Semantic Intensity (SI) in exploring the semantic relevancy between the user query and the available data. The novel Semantic Intensity captures the concept dominancy factor of an image. As we are aware of the fact that the image is the combination of various concepts and among the list of concepts some of them are more dominant then the other. The SemRank will rank the retrieved images on the basis of Semantic Intensity. The investigations are made on the LabelMe image and LabelMe video dataset. Experiments show that the proposed approach is successful in bridging the semantic gap. The experiments reveal that our proposed system outperforms the traditional image retrieval systems