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.
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Image Processing
Image processing: The process of extracting, characterizing and
interpreting information from images.
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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
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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!
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What is the problem with an analog image?
It is impossible to store and difficult to process an analog image.
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What is a digital image?
A digital image differs from an photo in that x,y and f(x,y) values are
discrete.
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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
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Image Processing Task
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Application Example 1
Lane tracking and Guidance of an autonomous vehicle
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Application Example 1
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Application Example 2
Object detection in Pick and Place Robotic Manipulator
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Image Processing v.s. Computer Vision
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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.
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Computer vision and Related domains
Image Analysis
Scene Analysis
Image Understanding
Image Processing
Computer Graphics
Pattern Recognition
Robotics
Artificial Intelligence
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Image Enhancement
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Image Restoration
Correcting out-focus images.
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Robotic Vision
Application of computer vision in robotics.
Autonomous robot navigation
Inspection and assembly
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Robot Vision
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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
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