Sub-pixel Layout for Super-Resolution with Images in the Octic Group

Shi, Boxin; Zhao, Hao; Ben-Ezra, Moshe; Yeung, Sai-Kit; Fernandez-Cull, Christy; Shepard, R. Hamilton; Barsi, Christopher; Raskar, Ramesh

doi:10.1007/978-3-319-10590-1_17

Cited by 13 publications

(7 citation statements)

References 18 publications

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“…In our design process, a shift of ±0.1 pixel was considered: it is a standard pixellic error when using subpixellic image processing [50]. The observation error being small, we use the following error model based on the definition of the interaction model (1):…”

Section: Characterizing the Accuracy Of The Visual Servoingmentioning

confidence: 99%

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Briot

Kaci

Boudaud

et al. 2020

Journal of Mechanisms and Robotics

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Abstract This paper investigates the feasibility of replacing metal robot links by wooden bodies for the purpose of eco-sustainable design. Wood is a material with low environmental impact, and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. In this work, to be able to guarantee stiffness and accuracy performance of a wooden robot, we propose an integrated design process combining (i) proper wood selection, (ii) adequate sensor-based control strategies to ensure robot accuracy and (iii) a robust design approach dealing with wood uncertainties. Based on the use of this integrated design process, a prototype of a wooden five-bar mechanism is designed and manufactured. Experiments for characterizing its accuracy and its stiffness are performed. Experimental results show that it is realistic to design a wooden robot with performance compatible with Industry requirements in terms of stiffness (prototype deformations lower than 400 microns for 20 N loads) and accuracy (prototype repeatability lower than 60 microns), guaranteed in a rectangular workspace of 800 mm x 200 mm. These works provide a first step towards the eco-sustainable mechanical design of robots.

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Section: Characterizing the Accuracy Of The Visual Servoingmentioning

confidence: 99%

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Briot

Kaci

Boudaud

et al. 2020

Journal of Mechanisms and Robotics

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“…4). In our design process, an error of 0.1 pixel was considered: it can indeed be obtained by using subpixellic observation approaches such as in [22] and can straightforwardly be related to a variation δn tot of the measurement vector cṅ tot . The error of observation being small, we approximated the error model relating the variation of the end-effector position δx to the variation δn tot of the measurement vector by using the following first order approximation based on the use of the interaction matrix given at (5):…”

Section: Positioning Error Modellingmentioning

confidence: 99%

RobEcolo: Optimal Design of a Wooden Five-Bar Mechanism

Kaci

Briot

Boudaud

et al. 2018

Volume 5A: 42nd Mechanisms and Robotics Conference

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Eco-design of robots has almost never be en explored in the past. This work investigates the potential of using bio-sourced materials, which have almost no environmental impact, instead of metals for robot design. Also, wood is one of the best candidates because of its interesting mechanical properties. However, wood performance / dimensions vary with the atmospheric conditions / external solicitations. Thus, it is challenging to design a stiff and accurate wooden industrial robot. Therefore, the objective of this paper is to describe a new design methodology leading to the design a wooden five-bar mechanism reliable in terms of accuracy and stiffness. The design optimization problem is solved in cascade. The first optimization process proposes to use a control-based design approach in order to compute the optimal primary geometric parameters of the robot (lengths of the links). This approach takes into account the sensor-based controller performance during the design phase. The second optimization process deals with the issue of the variability of the wood mechanical performance. It is based on a reliable topology optimization approach and allows for finding the shape of the robot links for which the impact of this variability in terms of deformation is minimized. Theoretical developments are described, solved and the obtained results allowed the prototyping of an industrial wooden five-bar mechanism.

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“…Image SR techniques can be applied to regular 2D images and depth images [5,18,20,21,25]. Broadly speaking, within the scope of 2D images, SR tasks can be divided into two categories: multi-image SR and single-image SR. Multi-image SR methods [1,3,8,10,17,24,27] utilize the non-redundant information of multiple frames of the same scene to reconstruct one fine-resolution image. Single image SR, on the other hand, only has one low-resolution input image at disposal which leads to a numerically ill-posed problem.…”

Section: Introductionmentioning

confidence: 99%

Single image super-resolution via internal gradient similarity

Xian

Tian

2016

Journal of Visual Communication and Image Representation

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Image super-resolution aims to reconstruct a high-resolution image from one or multiple low-resolution images which is an essential operation in a variety of applications. Due to the inherent ambiguity for superresolution, it is a challenging task to reconstruct clear, artifacts-free edges while still preserving rich and natural textures. In this paper, we propose a novel, straightforward, and effective single image superresolution method based on internal across-scale gradient similarity. The low-resolution gradients are first upsampled and then fed into an optimization framework to construct the final high-resolution output. The proposed approach is able to synthesize natural high-frequency texture details and maintain clean edges even under large scaling factors. Experimental results demonstrate that out method outperforms existing single image super-resolution techniques. We further evaluate the super-resolution performance when both internal statistics and external statistics are adopted. It is demonstrated that generally, internal statistics are sufficient for single image super-resolution.

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Sub-pixel Layout for Super-Resolution with Images in the Octic Group

Cited by 13 publications

References 18 publications

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

RobEcolo: Optimal Design of a Wooden Five-Bar Mechanism

Single image super-resolution via internal gradient similarity

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