UNIVERSITI MALAYSIA SARAWAK

Robotics And Automation KNP 3063

Vision System for Robotics and Automation Mohd Syahmi Jamaludin E-mail: jmsyahmi@feng.unimas.my
Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

Introduction
VISION the most powerful sense

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Vision System
important part of an "intelligent" robotics system. Why?

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Components of a Vision System

HARDWARE SOFTWARE

Optics (lenses, lighting) Cameras Interface (frame grabber) Computer

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Components of a Vision System

HARDWARE SOFTWARE Libraries with custom code developed using Visual C/C++, Visual Basic, or Java Graphical programming environments

-There is no universal vision system -One system for each application

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS
UNIVERSITI MALAYSIA SARAWAK
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Vision System Stages

Image Acquisition
Analog to digital conversion Remove noise, improve contrast

Image Processing

Image Segmentation

Find regions (objects) in the image

Take measurements of objects/relationships Match the description with similar description of known objects (models)
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Image Analysis

Pattern Recognition

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

Vision System- Fundamental Tasks

Vision system is divided into 6 fundamental tasks:

1) Image Transformation Image transformation is the process of electronically digitizing light images 2) Image Analysis A computer needs to locate the edges of an object in order to construct drawings of the object within a scene.
3) Edge detection. The edges are usually represented by the points that exhibit the greatest difference in gray-level values within a smoothed picture matrix. Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS
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Vision System- Fundamental Tasks

4) Thresholding. Lines might then be identified from the binary matrix that is thresholded. Some popular techniques for finding lines from an edge-point matrix are model matching, tracking, and template matching . 5) Image Understanding The final task of vision system is to interpret the information obtained during the image-analysis process. This is called image understanding, or machine perception

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Example: Fingerprint Recognition

- most precise identification biometric - has many applications - has the largest database
Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS
UNIVERSITI MALAYSIA SARAWAK
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Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Fingerprint recognition system

Enrollment
Fingerprint sensor Feature Extractor Template database

Identification
Fingerprint sensor
Feature Extractor Feature Matcher
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ID

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

Matching

Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS

UNIVERSITI MALAYSIA SARAWAK

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Other Application Fields

Medical imaging Industrial automation Robotics Radar Imaging Forensics Remote Sensing Cartography Character recognition
Department of Mechanical and Manufacturing Faculty of Engineering UNIMAS
UNIVERSITI MALAYSIA SARAWAK
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Class Activity:
1. isketch (OSNAC)..Creative mind come 1st and then think it logically.

Grouping : Group fro previous Project.