Robot vision

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• ROBOT VISION

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INTRODUCTION

• Robot vision-
• - a brief introduction
• Machine vision-
• Vision for robots requires the ability to
  identify and accurately determine the positions
  of all relevant three dimensional objects within
  the robot work place.
• David G. Lowe

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Definition of Robot vision

• Robot vision may be defined as the process of
  extracting, characterizing, and interpreting
  information from images of a three dimensional
  world 1
• 1 www.ite.his.se/ite/research/automation/course/
  vision.htm

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Purpose Of A Machine Vision System

• Analyzes images and produces descriptions of what
  is being imaged.
• Input to the system- Image
• Output from the system- satisfy two criteria.

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Robot Vision-Fundamental Tasks

• -Image transformation
• -Image analysis
• -Image understanding

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General Purpose Robot Vision(1)

• Important thing-
• System should capture the relevant
  data and with the motion of the object it should
  be able to update the information.
• Four steps to General Purpose Robot Vision
• - Object verification and tracking
• - Fast extraction of stable image
• features

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General Purpose Robot Vision (2)

• - Object model acquisition
• - Efficient indexing of the model
• database
• David G. Lowe

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Vision Sensors

• Special Vision Sensors
• - Eye-in-hand Vision System
• Fiber optic sensors
• Laser sensors
• Ultrasonic Transducers
• Passive infra-red sensors
• Radar systems- Not generally used
• Neuromorphic Sensors

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Stereo Vision

• Stereovision is basically inferring scene
  geometry from two or more images taken
  simultaneously from slight different viewpoints
• Stereo Vision- Feeling of Depth

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Active/Dynamic Stereo Vsion

• Active vision seeks to gather scene information
  dynamically and selectively by probing and
  exploring the entire visual field for the
  information that is salient to the particular
  task at hand
• 
  John Pretlove

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Advantages Of Active Vision

• Stabilizes the image
• figure-ground separation
• Better range estimation
• Lessening the effect of occlusions
• Useful in Robot Navigation

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Research Issues

• -Sensor Technology
• -Approach to Human Vision
• -Neural Networks