• Title, Summary, Keyword: Vision Sensor

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Attitude Estimation for the Biped Robot with Vision and Gyro Sensor Fusion (비전 센서와 자이로 센서의 융합을 통한 보행 로봇의 자세 추정)

  • Park, Jin-Seong;Park, Young-Jin;Park, Youn-Sik;Hong, Deok-Hwa
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.6
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    • pp.546-551
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    • 2011
  • Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.

An embedded vision system based on an analog VLSI Optical Flow vision sensor

  • Becanovic, Vlatako;Matsuo, Takayuki;Stocker, Alan A.
    • Proceedings of the Korea Society of Information Technology Applications Conference
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    • pp.285-288
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    • 2005
  • We propose a novel programmable miniature vision module based on a custom designed analog VLSI (aVLSI) chip. The vision module consists of the optical flow vision sensor embedded with commercial off-the-shelves digital hardware; in our case is the Intel XScale PXA270 processor enforced with a programmable gate array device. The aVLSI sensor provides gray-scale imager data as well as smooth optical flow estimates, thus each pixel gives a triplet of information that can be continuously read out as three independent images. The particular computational architecture of the custom designed sensor, which is fully parallel and also analog, allows for efficient real-time estimations of the smooth optical flow. The Intel XScale PXA270 controls the sensor read-out and furthermore allows, together with the programmable gate array, for additional higher level processing of the intensity image and optical flow data. It also provides the necessary standard interface such that the module can be easily programmed and integrated into different vision systems, or even form a complete stand-alone vision system itself. The low power consumption, small size and flexible interface of the proposed vision module suggests that it could be particularly well suited as a vision system in an autonomous robotics platform and especially well suited for educational projects in the robotic sciences.

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Vision Sensor and Ultrasonic Sensor Fusion Using Neural Network

  • Baek, Sang-Hoon;Oh, Se-Young
    • 제어로봇시스템학회:학술대회논문집
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    • pp.668-671
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    • 2004
  • This paper proposes a new method of sensor fusion of an ultrasonic sensor and a vision sensor at the sensor level. In general vision system, the vision system finds edges of objects. And in general ultrasonic system, the ultrasonic system finds absolute distance between robot and object. So, the method integrates data of two different types. The system makes perfect output for robot control in the end. But this paper does not propose only integrating a different kind of data but also fusion information which receives from different kind of sensors. This method has advantages which can simply embody algorithm and can control robot on real time.

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A Study on the Vision Sensor Using Scanning Beam for Welding Process Automation (용접자동화를 위한 주사빔을 이용한 시각센서에 관한 연구)

  • You, Won-Sang;Na, Suck-Joo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.20 no.3
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    • pp.891-900
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    • 1996
  • The vision sensor which is based on the optical triangulation theory with the laser as an auxiliary light source can detect not only the seam position but the shape of seam. In this study, a vision sensor using the scanning laser beam was investigated. To design the vision sensor which considers the reflectivity of the sensing object and satisfies the desired resolution and measuring range, the equation of the focused laser beam which has a Gaussian irradiance profile was firstly formulated, Secondly, the image formaing sequence, and thirdly the relation between the displacement in the measuring surface and the displacement in the camera plane was formulated. Therefore, the focused beam diameter in the measuring range could be determined and the influence of the relative location between the laser and camera plane could be estimated. The measuring range and the resolution of the vision sensor which was based on the Scheimpflug's condition could also be calculated. From the results mentioned above a vision sensor was developed, and an adequate calibration technique was proposed. The image processing algorithm which and recognize the center of joint and its shape informaitons was investigated. Using the developed vision sensor and image processing algorithm, the shape informations was investigated. Using the developed vision sensor and image processing algorithm, the shape informations of the vee-, butt- and lap joint were extracted.

Development of multi-line laser vision sensor and welding application (멀티 라인 레이저 비전 센서를 이용한 고속 3차원 계측 및 모델링에 관한 연구)

  • 성기은;이세헌
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.169-172
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    • 2002
  • A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which feeds foster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

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High speed seam tracking using multi-line laser vision sensor (멀티 라인 레이저 비전 센서를 이용한 고속 용접선 추적 기술)

  • 성기은;이세헌
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.584-587
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    • 2002
  • A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which needs laster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

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Smart Vision Sensor for Satellite Video Surveillance Sensor Network (위성 영상감시 센서망을 위한 스마트 비젼 센서)

  • Kim, Won-Ho;Im, Jae-Yoo
    • Journal of Satellite, Information and Communications
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    • v.10 no.2
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    • pp.70-74
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    • 2015
  • In this paper, satellite communication based video surveillance system that consisted of ultra-small aperture terminals with small-size smart vision sensor is proposed. The events such as forest fire, smoke, intruder movement are detected automatically in field and false alarms are minimized by using intelligent and high-reliable video analysis algorithms. The smart vision sensor is necessary to achieve high-confidence, high hardware endurance, seamless communication and easy maintenance requirements. To satisfy these requirements, real-time digital signal processor, camera module and satellite transceiver are integrated as a smart vision sensor-based ultra-small aperture terminal. Also, high-performance video analysis and image coding algorithms are embedded. The video analysis functions and performances were verified and confirmed practicality through computer simulation and vision sensor prototype test.

DEVELOPMENT OF LASER VISION SENSOR WITH MULTI-LINE

  • Kieun Sung;Sehun Rhee;Yun, Jae-Ok
    • Proceedings of the KWS Conference
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    • pp.324-329
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    • 2002
  • Generally, the laser vision sensor makes it possible design a highly reliable and precise range sensor at a low cost. When the laser vision sensor is applied to lap joint welding, however, there are many limitations. Therefore, a specially-designed hardware system has to be used. However, if the multi-lines are used instead of a single line, multi-range data can be generated from one image. Even under a set condition of 30fps, the generated 2D range data increases depending on the number of lines used. In this study, a laser vision sensor with a multi-line pattern is

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Development of Laser Vision Sensor with Multi-line for High Speed Lap Joint Welding

  • Sung, K.;Rhee, S.
    • International Journal of Korean Welding Society
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    • v.2 no.2
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    • pp.57-60
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    • 2002
  • Generally, the laser vision sensor makes it possible design a highly reliable and precise range sensor at a low cost. When the laser vision sensor is applied to lap joint welding, however. there are many limitations. Therefore, a specially-designed hardware system has to be used. However, if the multi-lines are used instead of a single line, multi-range data .:an be generated from one image. Even under a set condition of 30fps, the generated 2D range data increases depending on the number of lines used. In this study, a laser vision sensor with a multi-line pattern is developed with conventional CCD camera to carry out high speed seam tracking in lap joint welding.

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Application of Vision Sensor to Communication Device for Person with Serious Disability

  • Tanaka, Motohiro;Yamanaka, Yuki;Moromugi, Shunji;Shimomoto, Youichi;Ohgiya, Yasuhiko;Ishimatsu, Takakazu
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1634-1637
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    • 2004
  • We developed a communication device for person with serious disability to use slight movement. This device is developed mainly for patients suffering from ALS or a cerebral infarction. They often have communication difficulty because of deterioration of muscle functions. A feature of this device is that slight movements of user's finger, eyes or lips can be detected by using a vision sensor. Due to the features of the vision sensor, it is quite easy even for person with serious disability to use a communication device. By the field test it is confirmed that the vision sensors have superior performances as an input device for communication device. Experiments to use an EMG (electromyography) sensor and a rotary sensor are also tested to compare the performances.

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