[Show abstract][Hide abstract]ABSTRACT: t is a effective means by using high-speed vision to locate mobile targets. Under the circumstance of high frame rate and high sensitivity (300Hz), in addition to the Gaussian noise and impulse noise, the image quality is also influenced by atmospheric instability, and it is mainly expressed as Gaussian noise. An improved adaptive threshold weighted mean (IATWM) de-noising algorithm is proposed in this paper. According to the characteristics of impulse noise, the algorithm is able to obtain the threshold adaptively and separate the impulse noise. Then, the weighted median filtering algorithm is used to remove the impulse noise. And the improved weighted average filter algorithm is adopted to remove the Gaussian noise for graphics with Gaussian noise. The algorithm could deal with the Gaussian noise and impulse noise separately, avoiding the weaken handling for the parts not subject to pixels pollution of the impulse noise. The experimental results show that the processing result of the algorithm is able to retain the image details, superior to the traditional filtering algorithms and MTM algorithm. In addition, the algorithm provides an effective way to eliminate the mixed noise, along with a good effect on the high-speed sequence image processing.
[Show abstract][Hide abstract]ABSTRACT: A de-noising and simplification approach based on spatial connectivity is proposed which is applied to deal with the boundary points of point cloud. First, grid method is used to represent the spatial topology relationship of the scattered point cloud and calculate the k-nearest neighbors for each data point. Then boundary points are extracted according to uniform distribution of point cloud. And next, an algorithm for boundary points simplification of point cloud is presented to further simplify boundary points. Consequently, not only the details characteristics are reserved well, but also the boundary points are simplified. The experimental result shows that the proposed approach can not only reserve characteristics of both details and boundaries but also realize de-noising and simplification of point cloud.
[Show abstract][Hide abstract]ABSTRACT: Optical flow method is an important and valid method in the field of detection and tracking of moving objects for robot inspection system. Due to the traditional Horn-Schunck optical flow method and Lucas-Kanade optical flow method cannot meet the demands of real-time and accuracy simultaneously, an improved optical flow method based on Gaussian image pyramid is proposed. The layered structure of the images can be obtained by desampling of the original sequential images so that the motion with the high speed can be changed into continuous motion with lower speed. Then the optical flows of corner points of the lowest layer will be calculated by the LK method and be delivered to the upper layer and so on. Thus the estimated optical flow vectors of the original sequential images will be obtained. In this way, the requirement of accuracy and real time could be met for robotic moving obstacle recognition.
[Show abstract][Hide abstract]ABSTRACT: Structured light extraction is an important problem in 3-D measurement of structured light. Due to traditional structured light extraction methods are mostly applied in small visual field and simple environment. Therefore, a novel method is proposed based on the feature of structured light aiming at the large field and complex surroundings. Firstly, a region of interest (ROI) is obtained through a third sensor in order to reduce calculations and process conveniently. And then, structured light is extracted according to its feature of brightness distribution module and geometrical morphology trait. Experiment shows that this new method not only extracts structured light in such large field with strong background noise well but also reduces the computation to meet real-time requirement.
[Show abstract][Hide abstract]ABSTRACT: The panoramic annular optical lens can acquire the information of 360
degrees scene of horizontal plane and condense the image onto a CCD. In
this paper a single-lens catadioptric panoramic imaging system is
designed by the software ZEMAX to form a panoramic annular image on a
CCD which is needed to be unwrapped for easily observation. An improved
cubic spline interpolation algorithm is proposed in this paper based on
the characters of the annular image for the unwrapping of the image. The
new method can preserve the edge and detail of the image much better
compared with the nearest interpolation algorithm and bilinear
interpolation algorithm. The image already unwrapped still has
distortion due to the intrinsic imaging characters of the catadioptric
panoramic imaging system. Then the paper shows the evaluation for the
distortion of the unwrapped image which derived from the result of image
simulation using the optical system mentioned above. A new distortion
method is devised when black and white fringe image is used as the input
picture for the image simulation to get a distortion correction model
which can be applied for the distortion correction of any other
unwrapped images. Simulation results show that the panoramic annular
optical system can obtain the omnidirectional information factually
based on the new unwrapped algorithm and distortion correction
No preview · Article · Oct 2012 · Proceedings of SPIE - The International Society for Optical Engineering
[Show abstract][Hide abstract]ABSTRACT: A representation method for line edge roughness (LER) parameters based on wavelet-analysis is proposed. Multi-resolution analysis is processed on both spatial features and frequency features of line edge. Different feature details are achieved with different analysis resolution. The features of line edge are able to be represented well by wavelet analysis. And an extraction method for contour line of LER is designed based on wavelet baseline. The experimental results show that more details of LER features are obtained by multi-resolution wavelet analysis. The method is feasible to estimate the nano-scale LER. Therefore, it is possible to reduce the processing errors of nano-scale manufacturing line.
[Show abstract][Hide abstract]ABSTRACT: Using high-speed visual equipment is an effective method to locate
mobile targets. Under the circumstance of high sensitivity(500Hz),
except for the Gaussian noise, atmospheric instability has also an
important impact on the image quality. To solve the problem, a method is
proposed in this paper based on image power spectrum to analyze and
evaluate the Gaussian noise, atmospheric noise meanwhile combined with
wavelet denoising to remove the noise aiming at the images acquired by
DALSA's 8192*32 high-sensitivity camera. Firstly, image databases are
established based on the outdoor working conditions, including normal
images, Gaussian noise images loaded with different simulated
characteristics and atmospheric noise images in different simulated
frequencies. Power spectrum ratio of all the images in the databases is
calculated, and the image power spectrum critical value is determined.
Then the evaluation and classification of the image noise is got
according to the databases and the threshold. wavelet denoising is
introduced to remove the noise subsequently. Finally, the comparison of
power spectrum between the image untreated and treated is made to
evaluate the effect of the method above. Experimental results show that
the way can evaluate and remove the noise of image effectively for
high-speed visual images.
No preview · Article · Nov 2011 · Proceedings of SPIE - The International Society for Optical Engineering
[Show abstract][Hide abstract]ABSTRACT: Laser image often contains mixed noise mainly including salt and pepper
noise and Gaussian noise. Not only the quality of laser image is made
deteriorated but also the important details of laser image are flooded
by it. A new mixed noise filtering method for laser image is proposed in
this paper to filter out mixed noise effectively meanwhile ensure laser
image details clear and completed. In the first space, salt and pepper
noise in laser image is filtered out in spatial domain. A Novel Adaptive
Switching Median (NASM) filter based on local salt and pepper noise
density which determines filter window of every salt and pepper noise
point adaptively is introduced here. Secondly, image is transferred to
wavelet domain to filter out Gaussian noise. Local Adaptive BayesShrink
Threshold (LABT) wavelet denoising on basis of Gaussian Mixture Model
(GMM) is used in this step where wavelet coefficients are modeled by GMM
and LABT is used for adjusting the threshold adaptively which utilizes
local relevant characters of sub band wavelet coefficients. Experimental
results show that new method can remove mixed noise effectively
meanwhile protect details of laser image well thus getting better
filtering performance compared with other filters for laser image.
No preview · Article · Nov 2011 · Proceedings of SPIE - The International Society for Optical Engineering
[Show abstract][Hide abstract]ABSTRACT: In this paper a new approach for obtaining the intrinsic camera parameters based on circular points is proposed. This method just requires the camera to observe a planar pattern with square at a few different unknown orientations (at least three). With the image of four corner points of square we can obtain the image of circular points (ICPs) linearly. Without conic fitting, pattern matching and metric information of square, camera intrinsic parameters can be obtained automatically. This method is particularly useful for those people who want to get camera intrinsic parameters fast with relative high precision. Simulation and real planar pattern experiment show that the new approach is convenient, accurate and robust.
[Show abstract][Hide abstract]ABSTRACT: Laser image often mixes with salt and pepper noise when obtained and transmitted by image sensor. The salt and pepper noise not only makes the quality of laser image deteriorated but also causes the detail feature of laser image flooded which contains very important structure information. To remove salt and pepper noise effectively meanwhile ensure image details clear and completed, a Novel Adaptive Switching Median (NASM) filter based on local salt and pepper noise density is presented in this paper. Pixel points are divided into salt and pepper noise points and signal points according to two level detection mechanisms firstly, then, local salt and pepper noise density is introduced here to determined filter window of every noise point, only noise points are filtered by different size window adaptively whereas signal points are kept unprocessed finally. Through analyzing of experimental results, it shows that NASM filter can remove salt and pepper noise effectively meanwhile protect image details well thus getting better filtering performance compared with Traditional Median (TM) filter and other improved Switching Median (SM) filters for laser image.
[Show abstract][Hide abstract]ABSTRACT: A new localization method Genetic Simulated Annealing Monte Carlo Localization (GSAMCL) is presented for mobile robots in this paper. By using the observation matching as the fitness function to make the particles adjust to the high probability area meanwhile utilizing the high optimization performance of Genetic Simulated Annealing Algorithm, GSAMCL alleviates particle recession and improves the convergence efficiency compared with Monte Carlo Localization (MCL). Implementation of a system for multiple mobile robots localization using GSAMCL is gained based on the establishment of motion model and RSSI-based awareness model of mobile robots. Through analyzing of simulation results of the mobile robots system above, it shows that, using GSAMCL, mobile robots need fewer particles and less time to achieve higher localization efficiency and obtain higher localization accuracy under the same condition in global localization compared with MCL.
[Show abstract][Hide abstract]ABSTRACT: In order to measure accurately position of object in remote large area with vision measurement method, a special layout of vision measurement system was designed. Some calibration objects which have the same height with cameras were placed at specific position in the measurement area. By adjusting carefully the posture of cameras, those calibration objects were imaged at the same pixel row which contained the camera principal point. As a result, the master planes of cameras which were determined by the pixel row which contained the principal point and the optical axis of cameras were horizontal and coplanar. So, the u pixel coordinate of any space point was same with the one of its projection point in the xoy coordinate plane and a simplified calculation model was derived. Compared with the traditional vision measurement method, this method is simpler and more suitable for large remote area measurement. In order to verify the validity of this method, a verification experiment had been made. The experimental results show that the resolving accuracy of this model is very high, and this measurement method is very good to meet the requirement of large remote area measurement.
[Show abstract][Hide abstract]ABSTRACT: Coordinate measuring system which based on the theory of binocular stereo vision is widely used in many areas, whereas their effective measuring ranges are usually not larger than ten meters. In modern times the surveillance of large scale is used more and more in the civil and military area with the development of camera and computer technology. So based on this requirement this paper developed a new measuring model for this binocular stereo vision measuring system which is proper used in outdoor surveillance to get the 3D coordinate of the moving object. When the distance between two cameras is hundreds meters, the installation and camera calibration are quiet simple and convenient without expensive calibration apparatus and an elaborate setup or a planar pattern shown at a few different orientations or complicated camera imaging model and the parameters of math model are easy to get. After building the model of measuring system error analysis is performed to show influence of every parameter on the measuring system error. Both computer simulation and real data have been used to test the validity of our new simple measuring system model.
[Show abstract][Hide abstract]ABSTRACT: In order to measure precisely the position of remote falling point in large-range using stereo vision measurement technology, a fast accurate installation method with calibration objects for the field vision measurement system was proposed. The first thing of this method was to calculate accurately parameters of system based on measurement conditions. Then, some special calibration objects were emplaced with the same height along the theoretical main axis of camera. According to the images of calibration objects, the pose of camera was adjusted carefully to complete the fast accurate installation of camera. Simulation and experimental results show that this method is very suitable for locating the remote falling point in large-scale field. And the measurement accuracy of this method is about 0.3%.
[Show abstract][Hide abstract]ABSTRACT: Coal mine detect robot is a kind of mobile robot. It goes into explosion environment and detects gas content, temperature, etc. Environment dates are send to control people in safe field. Coal mine is a dangerous field, varies fatal factors menace people. Especially when coal mine disaster is occur. Rescuer doesn't know mine tunnel actual situation. It is very dangerous to go into mine tunnel without environment detect because second explosion may occur at any time. This paper introduces a coal mine robot electric and control system. It has many characters suitable to mine tunnel. It is compose of electric, computer, control, communicate, sensor, etc. The main problem of it is weight than ordinary robot, communicate in turn tunnel. It can run in explosion environment, climb ruins, check gas, and carry some food and medicine to people pin down in disaster. This robot can rescue people in coal mine disaster.
[Show abstract][Hide abstract]ABSTRACT: After earthquake, many people are buried under ruins. Rescue is very important in the first 48 hours. Snake robot is a very useful tool in climbing into ruins to detect people. This paper designs a new snake robot with all body drive system based on rope system. All snake robot body has drive ropes to drive it move. It is simple in drive system and control system. Any point touched ground, wall or roof can have drive force. A force feed back system is in snake robot body. Snake robot knows all force it touching and know environment. Force feedback control is used to cross obstacle. Snake body can auto controlled to make a detour to avoid obstacle. This snake can climb into ruins to detect people and control is simple than other snake robots. It is a practical scheme in disaster rescue robot in earthquake ruins.
[Show abstract][Hide abstract]ABSTRACT: A new wall climbing robot suction method called ldquoNPT methodrdquo has been primarily proposed by our lab, it is based on compositive effect of negative pressure force and thrust. This paper presents the suction principle in detail, then the key parameters are given and a model of the robot is designed. Using computational fluid dynamics simulation, key parameters are analyzed. Finally the attraction-gap-motor speed curve is drawn through experimental tests. It is proved that this method is suitable for improving the robot's adhering ability and obstacle crossing ability.
[Show abstract][Hide abstract]ABSTRACT: Space robot reliability is a fatal important problem. Any fault and error may damage spacecraft. This paper suggests a space robot system with two alternate drive system, two alternate control system, redundant freedom, two alternate communicate system. The space robot is a fault-tolerant system. Fault tree is used to analysis space robot. Any one element on the space robot fault doesnpsilat influence robot work. Space robot reliability is raised to a high level through this design. This design scheme is a practice scheme for space robot.
[Show abstract][Hide abstract]ABSTRACT: Light mobile robotpsilas weight design is a important problem which decides function and ability of mobile robot. In this paper, a total design method is advanced. There are many factors to consider, include mechanical part, electrical part, and task part. Each parts of robot must be carefully calculated and designed. There are many experiences in it. A light mobile robot is carefully analyzed as an example. The method can help mobile robot designers on how to design a robotpsilas weight quickly and not waste time and money.
[Show abstract][Hide abstract]ABSTRACT: Coal mine is a dangerous field, varies fatal factors menace people. Especially after coal mine disaster, rescuer doesn't know mine tunnel situation. It is very dangerous to go into mine tunnel without environment detect because second explosion may occur. Coal mine detect and rescue robot is a kind of mobile robot. It can go into explosion environment and detect gas content, temperature, etc. The date can send to control man in safe field. This paper designs a coal mine detect and rescue robot. It has many characters suitable to mine tunnel. It is compose of mechanic, electric, computer, control, communicate, sensor, etc. It can run in explosion environment, climb ruins, check gas, and carry some food and medicine to people pin down in a disaster. This robot can rescue many people in coal mine disaster.