Of the various kinds of research on the Virtual Reality and GIS, stereo-view is one of the key technologies . The following two aspects are covered in this paper. (1)Physiological fundamental of the natural binocular ...Of the various kinds of research on the Virtual Reality and GIS, stereo-view is one of the key technologies . The following two aspects are covered in this paper. (1)Physiological fundamental of the natural binocular stereo-vision, theory of 3D color TV and the stereo-view on the CRT screen are presented, especially the theory of widely adopted Time-Division System is introduced. (2) The preliminary practice for using the sterecrview technology on the screen to the terrain visual simulation is described, and the paper shows how to use 3DS to construct a movable real stereo terrain perspective by taking DTM data as the first hand information for the purpose of terrain visual simulation.展开更多
A robust adaptive predictor is proposed to solve the time-varying and delay control problem of an overhead crane system with a stereo-vision servo. The predictor is based on the use of a recurrent neural network(RNN) ...A robust adaptive predictor is proposed to solve the time-varying and delay control problem of an overhead crane system with a stereo-vision servo. The predictor is based on the use of a recurrent neural network(RNN) with tapped delays, and is used to supply the real-time signal of the swing angle. There are two types of discrete-time controllers under investigation, i.e., the proportional-integral-derivative(PID) controller and the sliding controller. Firstly, a design principle of the neural predictor is developed to guarantee the convergence of its swing angle estimation. Then, an improved version of the particle swarm optimization algorithm, the parallel particle swarm optimization(PPSO) method is used to optimize the control parameters of these two types of controllers. Finally, a homemade overhead crane system equipped with the Kinect sensor for the visual servo is used to verify the proposed scheme. Experimental results demonstrate the effectiveness of the approach, which also show the parameter convergence in the predictor.展开更多
In the test-field calibration,multi-azimuth stereo image pairs areproduced of the outdoor large control-field by the stereo-vision system under cali-bration.While in the analytical processing,the relationship between ...In the test-field calibration,multi-azimuth stereo image pairs areproduced of the outdoor large control-field by the stereo-vision system under cali-bration.While in the analytical processing,the relationship between image pairsis adopted as a constraint condition,which ensures the stability and quality of thecalibration results.This paper introduces the deduction process of the constraintconditions.展开更多
This manuscript presents a modified algorithm to extract depth information from stereo-vision acquisitions using a correlation based approaches. The main implementation of the proposed method is in the area of autonom...This manuscript presents a modified algorithm to extract depth information from stereo-vision acquisitions using a correlation based approaches. The main implementation of the proposed method is in the area of autonomous Pick & Place, using a robotic manipulator. Current vision-guided robotics is still based on a priori training and teaching steps, and still suffers from long response time. This study uses a stereo triangulation setup where two Charged Coupled Devices CCDs are arranged to acquire the scene from two different perspectives. The study discusses the details to calculate the depth using a correlation matching routine which programmed using a Square Sum Difference SSD algorithm to search for the corresponding points from the left and the right images. The SSD is further modified using an adjustable Region Of Interest ROI along with a center of gravity based calculations. Furthermore, the two perspective images are rectified to reduce the required processing time. The reported error in depth using the modified SSD method is found to be around 1.2 mm.展开更多
文摘Of the various kinds of research on the Virtual Reality and GIS, stereo-view is one of the key technologies . The following two aspects are covered in this paper. (1)Physiological fundamental of the natural binocular stereo-vision, theory of 3D color TV and the stereo-view on the CRT screen are presented, especially the theory of widely adopted Time-Division System is introduced. (2) The preliminary practice for using the sterecrview technology on the screen to the terrain visual simulation is described, and the paper shows how to use 3DS to construct a movable real stereo terrain perspective by taking DTM data as the first hand information for the purpose of terrain visual simulation.
基金supported by MOST under Grants No.104-2632-B-468-001,No.103-2221-E-468-009-MY2,No.104-2221-E-182-008-MY2,No.105-2221-E-468-009,No.106-2221-E-468-023,and No.106-2221-E-182-033Chang Gung Memorial Hospital,under Grants No.CMRPD2C0052 and No.CMRPD2C0053
文摘A robust adaptive predictor is proposed to solve the time-varying and delay control problem of an overhead crane system with a stereo-vision servo. The predictor is based on the use of a recurrent neural network(RNN) with tapped delays, and is used to supply the real-time signal of the swing angle. There are two types of discrete-time controllers under investigation, i.e., the proportional-integral-derivative(PID) controller and the sliding controller. Firstly, a design principle of the neural predictor is developed to guarantee the convergence of its swing angle estimation. Then, an improved version of the particle swarm optimization algorithm, the parallel particle swarm optimization(PPSO) method is used to optimize the control parameters of these two types of controllers. Finally, a homemade overhead crane system equipped with the Kinect sensor for the visual servo is used to verify the proposed scheme. Experimental results demonstrate the effectiveness of the approach, which also show the parameter convergence in the predictor.
文摘In the test-field calibration,multi-azimuth stereo image pairs areproduced of the outdoor large control-field by the stereo-vision system under cali-bration.While in the analytical processing,the relationship between image pairsis adopted as a constraint condition,which ensures the stability and quality of thecalibration results.This paper introduces the deduction process of the constraintconditions.
文摘This manuscript presents a modified algorithm to extract depth information from stereo-vision acquisitions using a correlation based approaches. The main implementation of the proposed method is in the area of autonomous Pick & Place, using a robotic manipulator. Current vision-guided robotics is still based on a priori training and teaching steps, and still suffers from long response time. This study uses a stereo triangulation setup where two Charged Coupled Devices CCDs are arranged to acquire the scene from two different perspectives. The study discusses the details to calculate the depth using a correlation matching routine which programmed using a Square Sum Difference SSD algorithm to search for the corresponding points from the left and the right images. The SSD is further modified using an adjustable Region Of Interest ROI along with a center of gravity based calculations. Furthermore, the two perspective images are rectified to reduce the required processing time. The reported error in depth using the modified SSD method is found to be around 1.2 mm.
