Reliable and accurate global machine vision for a multiagent robotic system | |
| Author | Seppi, Lorenz |
| Call Number | AIT RSPR no. ISE-04-01 |
| Subject(s) | Robot vision Computer vision |
| Note | A research study submitted in partial fulfillment of the requirements for the degree of Diplom lngenieur (TU) at the Technical University Munich, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Research studies project report ; no. ISE-04-01 |
| Abstract | This research study presents the development of a machine vision system for use in a robotic application. The detection of relative positions in robotic application is of foremost importance to be able to control the robots in a dynamically changing environment and it's sensing has always been difficult with traditional electronic sensors. A machine vision has not been realistic for long times because of the lack of suitable computers which could process a huge amount of data in real-time. With the upcoming of increasingly powerful computers, though it becomes possible to sense the position of objects by means of an electronic. image sensor. The present case sets the focus on a global machine vision for a Multiagent robotic system. A new algorithm will be proposed to allow a thresholding in a chroma-based colorspace, namely HLS, without the penalties of real-time color transformation. This makes very accurate detection of colors possible, which results in a very reliable definition of position speed and heading of objects. Moreover, the whole concept of the algorithm will be focused on efficient data processing in order to be able to deliver data with a high frequency. With the final implementation of the program, as much as 16 frames per second can be processed; enough to be able to successfully· control robots in a very fast changing environment. The program proved its efficiency in a robotic soccer application, but its not limited to it. Other applications, e.g. Flying Robot, Underwater Robot and more, can use the supplied machine vision just as one of many other sensors to control the robot. |
| Year | 2003 |
| Corresponding Series Added Entry | Asian Institute of Technology. Research studies project report ; no. ISE-04-01 |
| Type | Research Study Project Report (RSPR) |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Pamichkhun; |
| Examination Committee(s) | Bohez, Erik L.J.;Afzulpurkar, Nitin V.; |
| Degree | Research Studies Project Report (M. Sc.) - Asian Institute of Technology, 2003 |