Vision Based Control Motion - Calvin College - Minds In The …基于视觉的控制运动在加尔文学院的头脑….pptVIP

Vision Based Control Motion Matt Baker Kevin VanDyke Robots Today’s robots perform complex tasks with amazing precision and speed Why then have they not moved from the structure of the factory floor into the “real” world? What is the limiting factor? A “Seeing Robot” A robot that can perceive and react in complex and unpredictable surroundings This is not possible with the marker-based systems in use in most laboratory vision-based control systems Common reasons for failure of vision systems Small changes in the environment can result in significant variations in image data Changes in contrast Unexpected occlusion of features Robustness Stable measurements of local feature attributes, despite significant changes in the image data, that result from small changes in the 3D environment [1]. Enhanced Techniques The Hough-Transform Robust color classification Occlusion prediction Multisensory visual servoing Hough Transform Used to extract geometrical object features from digital images Hough Transform (con’t) Features are extracted by detecting maximums in the image Example geometric features encountered: Hough Transform (cont’d) Advantages Noise and background clutter do not impair detection of local maxima Partial occlusion and varying contrast are minimized Negatives Requires time and space storage that increases exponentially with the dimensions of the parameter space Hough Transform (con’t) a real-time application of HT requires both a fast image preprocessing step and an efficient implementation Robust color classification Color has high disambiguity power Real-time is required Supervised color segmentation The color distribution of the current scene is analyzed and colors that do not appear in the scene are used as marker colors These markers are then used as the input to the visual servoing system Colors represented by their hue-saturation value (HS relate to color, V relates to brightness) Robust color classification (con’t) Color segmentation Choose four c