Search:

Robotics I Fall 2007

Robotics II Spring 2007

Robotics I Fall 2006

Code

# Vision

## Vision.Vision History

October 28, 2006, at 05:45 PM by 189.151.12.144 -
Changed lines 45-47 from:
* [[http://citeseer.ist.psu.edu/maxwell98teaching.html | Here]] is a review of how to teach computer vision to CS' students
to:
* [[http://citeseer.ist.psu.edu/maxwell98teaching.html | Here]] is a review of how to teach computer vision to CS' students

* The camera images are missing.
* [[http://citeseer.ist.psu.edu/maxwell98teaching.html | Here]] is a review of how to teach computer vision to CS' students
Changed lines 41-42 from:
solve the required algorithm. In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.
to:
solve the required algorithm. In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account. [[http://www.analog.com/UploadedFiles/Technical_Articles/5352047424547665311ProgrammingTechniquesForDSPs.pdf | Here]] you have a short version of the same information.
Changed line 34 from:
* Lab5 : Calibration
to:
* Lab5 : [[Vision/Lab5 | Calibration ]]
Changed line 32 from:
* Lab3 : Blob Computation and Tracking
to:
* Lab3 : [[Vision/Lab3 | Blob Computation and Tracking]]
Changed line 14 from:
'''Image Based Visual Servoing''' In the next image the main system feedback is provided by the '''Feature Extraction''' box:
to:
'''Image Based Visual Servoing''' In the next image the main system feedback is provided by the '''Feature extraction''' box:
Changed line 33 from:
* Lab4 : Line Circle Finding
to:
* Lab4 : Line/Circle Finding
Changed lines 20-21 from:
->Position Base Visual Servoing
to:
'''Position Base Visual Servoing''' The main difference in between the last diagram and the new one is the box whose content allows us to compute the '''Pose determination''' algortihm.
Changed lines 14-15 from:
'''Image Based Visual Servoing''' In the next image we can differentiate the boxes containing
to:
'''Image Based Visual Servoing''' In the next image the main system feedback is provided by the '''Feature Extraction''' box:
the camera is acquiring an image and such a box is computing "interest" or "reference" points from where a control
action can be computed.

Changed lines 14-15 from:
->Image Based Visual Servoing
to:
'''Image Based Visual Servoing''' In the next image we can differentiate the boxes containing
Changed lines 38-43 from:
* One of the most important concerns about the performance of any
program is the amount of computing operations needed to
solve the required algorithm.

*
In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.
to:
* One of the most important concerns about the performance of any program is the amount of computing operations needed to
solve the required algorithm. In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.
Changed line 29 from:
* Lab2 : Border Detection
to:
* Lab2 : [[Vision/Lab2 | Border Detection]]
Changed lines 44-46 from:
* [[http://homepages.inf.ed.ac.uk/rbf/CVonline/ | Here]] you will find a very nice compendium
of computer vision
to:
* [[http://homepages.inf.ed.ac.uk/rbf/CVonline/ | Here]] you will find a very nice compendium of computer vision
Changed lines 45-46 from:
of computer vision]]
to:
of computer vision
Changed line 38 from:
One of the most important concerns about the performance of any
to:
* One of the most important concerns about the performance of any
Changed lines 42-46 from:
In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.

to:
* In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.

* [[http://homepages.inf.ed.ac.uk/rbf/CVonline/ | Here]] you will find a very nice compendium
of computer vision]]

Changed lines 36-38 from:

to:

One of the most important concerns about the performance of any
program is the amount of computing operations needed to
solve the required algorithm.

In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SOURCE CODE of the book [[ http://www.analog.com/UploadedFiles/Associated_Docs/39372613293690438645_Blackfin_comp_man.pdf | C/C++ Compiler and Library Manual for Blackfin Processors]] you will find a very nice list of conseils that you have to take into account.

Changed line 28 from:
* Lab1 : Color Filtering
to:
* Lab1 : [[Vision/Lab1 | Color Filtering]]
Changed lines 14-15 from:
->Position Based Visual Servoing
to:
->Image Based Visual Servoing
Changed lines 18-19 from:
->Image Base Visual Servoing
to:
->Position Base Visual Servoing

Attach:VS3PbVs.jpg

Attach:VS2Dimlas.jpg
Changed line 18 from:
In such a way to integrate step-by-step- vision onto robotics propose you to follow the next
to:
In such a way to integrate step-by-step- vision onto robotics we propose you to follow the next
Changed lines 18-21 from:
to:
In such a way to integrate step-by-step- vision onto robotics propose you to follow the next
sequence on Labs.

Changed lines 24-25 from:

to:
* Lab1 : Color Filtering
* Lab2 : Border Detection
* Lab3 : Blob Computation and Tracking
* Lab4 : Line Circle Finding
* Lab5 : Calibration
* Lab6 : 2D-3D Pose Determination
* Lab7 : Visual Servoing

Changed lines 19-22 from:
to:
''' Labs '''

Deleted lines 15-16:
Attach:IBVS
Changed lines 17-19 from:
Attach:VS2Dimlas.jpg

to:

Changed lines 17-19 from:
The image is left-aligned, and the text wraps on the right side of the
image.

to:
Changed lines 21-23 from:
%width=300px% http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

to:
Attach:VS2Dimlas.jpg

Changed line 16 from:
http://www.cs.uml.edu/blackfin/images/IBVS
to:
Attach:IBVS
Changed line 16 from:
to:
http://www.cs.uml.edu/blackfin/images/IBVS
Changed line 16 from:
%lfloat% http://www.cs.uml.edu/blackfin/pub/uploads/Vision/IBVS | '''Position Based [Corke et al.]'''
to:
Changed line 16 from:
%lfloat% http://www.cs.uml.edu/blackfin/pub/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
to:
%lfloat% http://www.cs.uml.edu/blackfin/pub/uploads/Vision/IBVS | '''Position Based [Corke et al.]'''
Changed line 16 from:
%lfloat% http://www.cs.uml.edu/blackfin/pub/uploads/Vision/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
to:
%lfloat% http://www.cs.uml.edu/blackfin/pub/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
Changed line 16 from:
%lfloat% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
to:
%lfloat% http://www.cs.uml.edu/blackfin/pub/uploads/Vision/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
Changed line 16 from:
%lfloat% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg | '''Position Based [Corke et al.]!'''
to:
%lfloat% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg | '''Position Based [Corke et al.]'''
Changed lines 15-16 from:
%width=300px% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg
to:

%lfloat% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg | '''Position Based [Corke et al.]!'''
The image is left-aligned, and the text wraps on the right side of the
image.

Changed lines 15-16 from:
%width=700px% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg
to:
%width=300px% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg
Changed lines 18-20 from:
%width=700px% http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

to:
%width=300px% http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

Changed lines 15-16 from:
%width=700px%  http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg
to:
%width=700px% http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg
Changed lines 18-21 from:
%width=700px%
http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

to:
%width=700px% http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

%width=700px%  http://www.cs.uml.edu/blackfin/images/VS3PbVs.jpg

->Image Base Visual Servoing
Deleted lines 18-21:
http://www.cs.uml.edu/blackfin/images/VS3PbVS.jpg

->Image Base Visual Servoing
%width=700px%
Changed lines 16-17 from:
http://www.cs.uml.edu/blackfin/images/PBVS.jpg
to:
http://www.cs.uml.edu/blackfin/images/VS3PbVS.jpg
Changed lines 20-22 from:
http://www.cs.uml.edu/blackfin/images/IBVS.jpg

to:
http://www.cs.uml.edu/blackfin/images/VS2Dimlas.jpg

Changed lines 15-16 from:

->Image Base Visual Servoing
to:
%width=700px%
http://www.cs.uml.edu/blackfin/images/PBVS.jpg

->Image Base Visual Servoing
%width=700px%
http://www.cs.uml.edu/blackfin/images/IBVS.jpg

Changed lines 9-10 from:
A common terminology to name the use of computer vision for robotics is called visual servoing ([[http://citeseer.ist.psu.edu/hutchinson96tutorial.html]| here] there is a link to one of the most prominent paper on that subject)
to:
A common terminology to name the use of computer vision for robotics is called visual servoing ([[http://citeseer.ist.psu.edu/hutchinson96tutorial.html| here]] there is a link to one of the most prominent paper on that subject)
Changed lines 9-10 from:
A common terminology to name the use of computer vision for robotics is called visual servoing (here[[http://citeseer.ist.psu.edu/hutchinson96tutorial.html]] there is a link to one of the most prominent paper on that subject)
to:
A common terminology to name the use of computer vision for robotics is called visual servoing ([[http://citeseer.ist.psu.edu/hutchinson96tutorial.html]| here] there is a link to one of the most prominent paper on that subject)
A common terminology to name the use of computer vision for robotics is called visual servoing (here[[http://citeseer.ist.psu.edu/hutchinson96tutorial.html]] there is a link to one of the most prominent paper on that subject)
Changed lines 12-14 from:
->Position Based Visual Servoing<-

-
>Image Base Visual Servoing<-
to:
->Position Based Visual Servoing

->Image Base Visual Servoing
Changed lines 3-14 from:
frame rate to the sampling and control rates.
to:
frame rate to the sampling and control rates.

There is more than one way to achieve a given goal
and sometimes, how you achive the goal is just
a matter of robot control "smoothness" and precision.

Generally speaking they are two classical ways to
integrate computer vision in robotics:

->Position Based Visual Servoing<-

->Image Base Visual Servoing<-
Changed lines 1-3 from:
This is the main page for vision work on the Blackfin Handy Board.
to:
The main challenge for integration computer vision
in robotics application consists on adjust the
frame rate to the sampling and control rates
.