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Measuring Curved Suriaces for Robot Vision Disclosure Number: IPCOM000131563D
Original Publication Date: 1982-Dec-01
Included in the Prior Art Database: 2005-Nov-11
Document File: 18 page(s) / 76K

Publishing Venue

Software Patent Institute

Related People

Ernest L. Hall: AUTHOR [+6]


University of Tennessee

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This record contains textual material that is copyright ©; 1982 by the Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Contact the IEEE Computer Society (714-821-8380) for copies of the complete work that was the source of this textual material and for all use beyond that as a record from the SPI Database.

Measuring Curved Suriaces for Robot Vision

Ernest L. Hall, University of Tennessee; James B. K. Tin, Technology for Energy Corporation; Charles A. McPherson, C. S. Draper Laboratory; and Firooz A. Sadjadi, University of Tennessee

A technique that uses a recorded image of a projected pattern to measure 3-D surface points can help robots locate simple curved objects -- even footballs.

A new industrial revolution is in the making, produced by a marriage of two versatile technologies, the computer and the robot. This combination of control and manipulation produces a machine with enormous potential for performing useful tasks -- yet such potential has not been fully realized.

One way to improve the capabilities of current industrial robots is to add visual sensors. Robots that are deaf or dumb or that have no sense of force or touch perform only manually trainable tasks that can be dangerous in some working environments. Many applications call for an "intelligent" robot, a stand-alone machine -- usually with its own visual, contact, or auditory sensory perception system -- that can detect changes in its work environment and adapt to them. Such a detection process requires a large number of computations on the sensory data to distinguish features, recognize patterns, or compare input data with logical expectations.

With the low cost of microprocessors and the increasing use of dedicated computers, intelligent systems for robots are becoming more and more sophisticated,' 7 and we have no shortage of potential applications: seFsorybased robots can be used in space exploration, deep-sea mining, and industrial automation, for examples 4 Computer vision, the collection of techniques, software, and hardware for measurements and inferences from images,5~6 appears to offer the richest source of sensory information for intelligent robotic manipulation in the greatest number of environments.

A simple computer vision system usually consists of an image-processing unit interfaced with a minicomputer or mainframe,7 but many kinds of systems are available, some for as little as $5000.8 However, most of these are low- level processing systems,9'0 consisting of image acquisition, edge detection, feature extraction, template matching, and object recognition.* High- level processing is time consuming, since it requires a lot of computation. Nevertheless, image- processing algorithms can be implemented on minicomputers or mainframes.'3 In fact, imaging devices have been widely used in many automated visual inspection systems to perform...