13,107 research outputs found
Proceedings of the 4th field robot event 2006, Stuttgart/Hohenheim, Germany, 23-24th June 2006
Zeer uitgebreid verslag van het 4e Fieldrobotevent, dat gehouden werd op 23 en 24 juni 2006 in Stuttgart/Hohenhei
Efficient Evaluation of the Number of False Alarm Criterion
This paper proposes a method for computing efficiently the significance of a
parametric pattern inside a binary image. On the one hand, a-contrario
strategies avoid the user involvement for tuning detection thresholds, and
allow one to account fairly for different pattern sizes. On the other hand,
a-contrario criteria become intractable when the pattern complexity in terms of
parametrization increases. In this work, we introduce a strategy which relies
on the use of a cumulative space of reduced dimensionality, derived from the
coupling of a classic (Hough) cumulative space with an integral histogram
trick. This space allows us to store partial computations which are required by
the a-contrario criterion, and to evaluate the significance with a lower
computational cost than by following a straightforward approach. The method is
illustrated on synthetic examples on patterns with various parametrizations up
to five dimensions. In order to demonstrate how to apply this generic concept
in a real scenario, we consider a difficult crack detection task in still
images, which has been addressed in the literature with various local and
global detection strategies. We model cracks as bounded segments, detected by
the proposed a-contrario criterion, which allow us to introduce additional
spatial constraints based on their relative alignment. On this application, the
proposed strategy yields state-of the-art results, and underlines its potential
for handling complex pattern detection tasks
A vision-based system for inspecting painted slates
Purpose – This paper describes the development of a novel automated vision system used to detect the visual defects on painted slates.
Design/methodology/approach – The vision system that has been developed consists of two major components covering the opto-mechanical and algorithmical aspects of the system. The first component addresses issues including the mechanical implementation and interfacing the inspection system with the development of a fast image processing procedure able to identify visual defects present on the slate surface.
Findings – The inspection system was developed on 400 slates to determine the threshold settings that give the best trade-off between no false positive triggers and correct defect identification. The developed system was tested on more than 300 fresh slates and the success rate for correct identification of acceptable and defective slates was 99.32 per cent for defect free slates based on 148 samples and 96.91 per cent for defective slates based on 162 samples.
Practical implications – The experimental data indicates that automating the inspection of painted slates can be achieved and installation in a factory is a realistic target. Testing the devised inspection system in a factory-type environment was an important part of the development process as this enabled us to develop the mechanical system and the image processing algorithm able to perform slate inspection in an industrial environment. The overall performance of the system indicates that the proposed solution can be considered as a replacement for the existing manual inspection system.
Originality/value – The development of a real-time automated system for inspecting painted slates proved to be a difficult task since the slate surface is dark coloured, glossy, has depth profile non-uniformities and is being transported at high speeds on a conveyor. In order to address these issues, the system described in this paper proposed a number of novel solutions including the illumination set-up and the development of multi-component image-processing inspection algorithm
Camera distortion self-calibration using the plumb-line constraint and minimal Hough entropy
In this paper we present a simple and robust method for self-correction of
camera distortion using single images of scenes which contain straight lines.
Since the most common distortion can be modelled as radial distortion, we
illustrate the method using the Harris radial distortion model, but the method
is applicable to any distortion model. The method is based on transforming the
edgels of the distorted image to a 1-D angular Hough space, and optimizing the
distortion correction parameters which minimize the entropy of the
corresponding normalized histogram. Properly corrected imagery will have fewer
curved lines, and therefore less spread in Hough space. Since the method does
not rely on any image structure beyond the existence of edgels sharing some
common orientations and does not use edge fitting, it is applicable to a wide
variety of image types. For instance, it can be applied equally well to images
of texture with weak but dominant orientations, or images with strong vanishing
points. Finally, the method is performed on both synthetic and real data
revealing that it is particularly robust to noise.Comment: 9 pages, 5 figures Corrected errors in equation 1
Development of a Computer Vision-Based Three-Dimensional Reconstruction Method for Volume-Change Measurement of Unsaturated Soils during Triaxial Testing
Problems associated with unsaturated soils are ubiquitous in the U.S., where expansive and collapsible soils are some of the most widely distributed and costly geologic hazards. Solving these widespread geohazards requires a fundamental understanding of the constitutive behavior of unsaturated soils. In the past six decades, the suction-controlled triaxial test has been established as a standard approach to characterizing constitutive behavior for unsaturated soils. However, this type of test requires costly test equipment and time-consuming testing processes. To overcome these limitations, a photogrammetry-based method has been developed recently to measure the global and localized volume-changes of unsaturated soils during triaxial test. However, this method relies on software to detect coded targets, which often requires tedious manual correction of incorrectly coded target detection information. To address the limitation of the photogrammetry-based method, this study developed a photogrammetric computer vision-based approach for automatic target recognition and 3D reconstruction for volume-changes measurement of unsaturated soils in triaxial tests. Deep learning method was used to improve the accuracy and efficiency of coded target recognition. A photogrammetric computer vision method and ray tracing technique were then developed and validated to reconstruct the three-dimensional models of soil specimen
Development of a video-rate range finder using dynamic threshold method for characteristic point detection
This study develops a video-rate stereo range finding circuit to obtain the depth of objects in a scene by processing video signals (R, G, B, and brightness signals) from binocular CCD cameras. The electronic circuit implements a dynamic threshold method to decrease the affect of signal noise in characteristic point detection, where a video signal from each CCD camera is compared with multiple thresholds, shifting dynamically by feeding back the previous comparison result. Several object depth measurement experiments for simple indoor scenes show that the dynamic threshold method gives high acquisition and correct rates of depth data compared with those by a fixed threshold method for the video signals and a relative method for R, G, and B signals utilized in the authors' previous range finders
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