Scribd
Upload
163 views

Robotic Vision Systems: Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram

The document discusses robotic vision systems and how they use image processing techniques. It explains that robotic vision involves sensing images, preprocessing them, segmenting objects of interest, describing features, recognizing objects, and interpreting scenes. This allows robots to perform tasks like accurate positioning, visual teaching, object recognition, and measurements to aid in applications like autonomous vehicles and pick-and-place manipulation.

Uploaded by

Aravind R Krishnan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
163 views

Robotic Vision Systems: Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram

The document discusses robotic vision systems and how they use image processing techniques. It explains that robotic vision involves sensing images, preprocessing them, segmenting objects of interest, describing features, recognizing objects, and interpreting scenes. This allows robots to perform tasks like accurate positioning, visual teaching, object recognition, and measurements to aid in applications like autonomous vehicles and pick-and-place manipulation.

Uploaded by

Aravind R Krishnan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 22

Robotic Vision Systems

Dr. A. R. Jayan, ECE Dept.,


GEC Sreekrishnapuram

31 March. 2019

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 1 / 21
Syllabus

Robotic vision systems: Imaging, Sensing and Digitization, Image


processing techniques, Areas of application in robotics.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 2 / 21
Image Processing

Image processing: The process of extracting, characterizing and


interpreting information from images.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 3 / 21
Six steps

Sensing - Process that yields a visual image


Pre-processing – Noise reduction, enhancement of details
Segmentation – Partitioning of an image into object of interest
Description – Computation of features to differentiate objects
Recognition – Process to identify objects
Interpretation – Assigning meaning to group of objects

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 4 / 21
What can Computer Vision do for Robotics?

Accurate Robot-Object Positioning


Keeping Relative Position under Movement
Visualization / Teaching / Telerobotics
Performing measurements
Object Recognition
Registration

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 5 / 21
Robot vision

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 6 / 21
What is an Image?

An natural image captured with a camera, telescope, microscope or


other type of optical instrument displays a continuously varying array
of shades and color tones. This is known as continuous tone image or
analog image.
An image provides (lot of) information!

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 7 / 21
What is the problem with an analog image?

It is impossible to store and difficult to process an analog image.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 8 / 21
What is a digital image?

A digital image differs from an photo in that x,y and f(x,y) values are
discrete.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 9 / 21
What is Digital Image Processing?

Image processing involves changing the nature of an image in order


to either
Improve pictorial information for human interpretations
Render it more suitable for autonomous machine perception
Reducing image size on disk

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 10 / 21
Image Processing Task

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 11 / 21
Application Example 1

Lane tracking and Guidance of an autonomous vehicle

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 12 / 21
Application Example 1

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 13 / 21
Application Example 2

Object detection in Pick and Place Robotic Manipulator

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 14 / 21
Image Processing v.s. Computer Vision

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 15 / 21
Computer vision

Deals with the development of the theoretical and algorithmic basis


by which useful information about the 3D world can be automatically
extracted and analyzed from a single or multiple o 2D images of the
world.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 16 / 21
Computer vision and Related domains

Image Analysis
Scene Analysis
Image Understanding
Image Processing
Computer Graphics
Pattern Recognition
Robotics
Artificial Intelligence

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 17 / 21
Image Enhancement

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 18 / 21
Image Restoration

Correcting out-focus images.

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 19 / 21
Robotic Vision

Application of computer vision in robotics.


Autonomous robot navigation
Inspection and assembly

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 20 / 21
Robot Vision

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 21 / 21
Robotic Vision - Comparison with other vision
systems

Technique Input Output


Signal Proc. Elec. signals Elec. signals
Image Processing Images Images
Computer Vision Images Info. and features
Pattern Rec.
and Mach. Learning Info. and features Info.
Machine Vision Images Info.
Robot Vision Images Physical Action

Dr. A. R. Jayan, ECE Dept., GEC Sreekrishnapuram Robotic Vision Systems 31 March. 2019 22 / 21

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy