7/28/2019 Lecture Week 9-Vision System for Robotics and Automation

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UNIVERSITI MALAYSIA

SARAWAK

Department of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

Robotics And Automation

KNP 3063

Vision System for Robotics andAutomation

Mohd Syahmi JamaludinE-mail: jmsyahmi@feng.unimas.my

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Introduction

VISION

the mostpowerful sense

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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important part of an "intelligent" robotics

system.

Why?

Vision System

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Components of a Vision System

HARDWARE

SOFTWAREOptics (lenses, lighting)

Cameras

Interface (frame grabber)

Computer

HARDWARE

SOFTWARE

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Components of a Vision System

HARDWARE

SOFTWARE

-There is no universal vision system-One system for each application

Libraries with custom codedeveloped using VisualC/C++, Visual Basic, or

Java Graphical programming

environments

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Vision System Stages

Image Acquisition

Image Processing

Image Segmentation

Image Analysis

Pattern Recognition

Analog to digital conversion

Remove noise,

improve contrast

Find regions (objects)

in the image

Take measurements of

objects/relationships

Match the description with

similar description of known

objects (models)

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

Vision system is divided into 6 fundamental tasks:

1) Image Transformation

Image transformation is the process of electronically digitizing light

images

2) Image Analysis

A computer needs to locate the edges of an object in order to

construct drawings of the object within a scene.

3) Edge detection.

The edges are usually represented by the points that exhibit thegreatest difference in gray-level values within a smoothed picture

matrix.

Vision System- Fundamental Tasks

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UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

4) Thresholding.

Lines might then be identified from the binary matrix that is thresholded.

Some popular techniques for finding lines from an edge-point matrix are

model matching, tracking, and template matching

.

5) Image Understanding

The final task of vision system is to interpret the information obtained duringthe image-analysis process. This is called image understanding, or

machine perception

Vision System- Fundamental Tasks

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Example: Fingerprint Recognition

- most precise identification

biometric

- has many applications- has the largest database

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Fingerprint recognition system

Fingerprint

sensor

Fingerprint

sensor

Feature Extractor

Feature Extractor

Feature MatcherID

Enrollment

Identification

Template

database

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Matching

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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Other Application Fields

Medical imaging

Industrial automation

Robotics

Radar Imaging Forensics

Remote Sensing

CartographyCharacter recognition

UNIVERSITI MALAYSIA

SARAWAKDepartment of Mechanical and Manufacturing

Faculty of Engineering

UNIMAS

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1. isketch (OSNAC)..Creative mindcome 1st and then think it logically.

Grouping : Group fro previousProject.

Class Activity: