A great many tasks in automated manufacturing and assem bly involve robot operations guided by vision systems. In such situations, linking of machine vision systems and robot manipu lators has relied on accurate camera-to-real world calibration processes and on highly accurate robot arms with well-known kinematics. This article describes a real-time vision-control strategy for "hand-to-eye coordination " that gives good per formance even in the presence of significant vision system miscalibrations and kinematic model parametric errors.
High-power phosphor-based LEDs are replacing conventional white-light sources for vertical scanning interferometry, but the spectrum of the phosphor-based LED is different from that of the conventional light source. The phosphor-based LED has two peaks in its spectrum, while the conventional light source has only one peak in the Gaussian distribution. In this Letter, we investigate the effects of phosphor-based LEDs on vertical scanning interferometry. Our result shows that the use of a phosphor-based LED changes the fringe contrast function significantly, such that measurement repeatability decreases. We propose and demonstrate that a constraint on the input to the existing reconstruction algorithm improves the repeatability of the vertical scanning interferometer with a phosphor-based LED.
In this paper we describe a fully integrated system for detecting and tracking pedestrians in a dynamic urban environment. The system can reliably detect and track pedestrians to a range of 100 m in highly cluttered environments. The system uses a highly accurate 3D LIDAR from Velodyne to segment the scene into regions of interest or blobs, from which the pedestrians are determined. The pedestrians are then tracked using probabil ity hypothesis density (PHD) filter which is based on random finite set theoretic framework. In contrast to classical approaches, this random finite set framework does not require any explicit data associations. The PHD filter is implemented using a Gaussian Mixture technique. Experimental results obtained in dynamic urban settings demonstrate the efficacy and tracking performance of the proposed approach.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.