By Azriel Rosenfeld (auth.), Andrew K. C. Wong, Alan Pugh (eds.)
This booklet is the result of the NATO complex examine Workshop on computing device Intelligence and information Engineering for robot purposes held at Maratea, Italy in could 1986. Attendance of the workshop used to be via invitation purely. lots of the members and audio system are well-known leaders within the box, representing undefined, executive and educational c0mrnunity all over the world. the focal point of the workshop was once to study the hot advances of computing device intelligence and data engineering for robot appli cations. It covers 5 major components of curiosity. they're grouped into 5 sections: 1. robotic imaginative and prescient 2. wisdom illustration and picture figuring out three. robotic regulate and Inference structures four. job making plans and specialist structures five. Software/Hardware platforms additionally incorporated during this ebook are a paper from the Poster consultation and a quick document of the panel dialogue at the destiny path in Knowledge-Based Robotics. part I of this publication contains 4 papers. It starts with a evaluation of the fundamental ideas of machine imaginative and prescient, with emphasis on recommendations particular for robotic imaginative and prescient platforms. the following paper pre sents a entire 3-D imaginative and prescient approach for robot application.
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Additional resources for Machine Intelligence and Knowledge Engineering for Robotic Applications
Sample text
S are depicted darker, that was measured by using a range laser scanner made by the Environmental Research Institute or Michigan (ERIM) and whose X = 64 feet [Hebert Ig85J. ump in range (slightly larger than X) occurs around r = X, resulting in a jump edge acruss the range image. Except Cor the very special case in which the sensor is placed in front of a cave or a tunnel of the corresponding dimensions, such a jump edge implies that the jump is not real. This hypothesis may be verified by computing the slopes of the surfaces below and above the jump edge.
B. Measurement of Surface Orientation Two techniques have been proposed for indirect measurement of surface orientation (or surface gradient) from a monocular image obtained under ambient light-one based on knowledge of perspective geometry and the other on texture gradient. L Shape from Perspective Clues The geometry of perspective projection provides strong constraints on the possible interpretation of scenes. For example, the image of a set of n parallel lines on a planar surface, z = f(x,y), in a scene consists of n straight lines that intersect at a single vanishing point (xv' ,Yv ').
Most of these applications are marked by an uteriak (*) in Table 1. n ROBOT SENSING Given an environment in which a robot operates and a runction it has to perform, we define robot sensing as the translation of relevant properties or objects in that environment into the information required to control the robot in performing that function [Nitzan et al. 1083]. Thus, for example, different types of sensing will provide the information required to control a robot that handles industrial parts, inspects printed circuit boards, arc welds workpieces, navigates outdoors or services satellites in space.
