Slide 1 ROBOT VISION  2000 Jaskaran Singh ROBOT VISION

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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]

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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.

Slide 1 ROBOT VISION  2000 Jaskaran Singh Robot Vision-Fundamental Tasks -Image transformation -Image analysis -Image understanding

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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

Slide 1 ROBOT VISION  2000 Jaskaran Singh General Purpose Robot Vision (2) - Object model acquisition - Efficient indexing of the model database David G. Lowe

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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

Slide 1 ROBOT VISION  2000 Jaskaran Singh Stereo Vision Stereovision is basically inferring scene geometry from two or more images taken simultaneously from slight different viewpoints Stereo Vision- Feeling of Depth

Slide 1 ROBOT VISION  2000 Jaskaran Singh 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

Slide 1 ROBOT VISION  2000 Jaskaran Singh Advantages Of Active Vision - Stabilizes the image - figure-ground separation - Better range estimation - Lessening the effect of occlusions - Useful in Robot Navigation

Slide 1 ROBOT VISION  2000 Jaskaran Singh Research Issues -Sensor Technology -Approach to Human Vision -Neural Networks