This document describes contours planning and visual servo control of an XXY positioning system. It discusses using NURBS interpolation to plan two-dimensional contours, developing image processing algorithms to obtain position and angle information from a camera, and designing a visual servo control method to precisely track the contours. Experimental results demonstrated the system's ability to achieve high-precision positioning for various two-dimensional contours.
Uncalibrated View Synthesis Using Planar Segmentation of Images ijcga
This paper presents an uncalibrated view synthesis method using piecewise planar regions that are extracted from a given set of image pairs through planar segmentation. Our work concentrates on a view synthesis method that does not need estimation of camera parameters and scene structure. For our goal, we simply assume that images of real world are composed of piecewise planar regions. Then, we perform view
synthesis simply with planar regions and homographies between them. Here, for accurate extraction of planar homographies and piecewise planar regions in images, the proposed method employs iterative homography estimation and color segmentation-based planar region extraction. The proposed method
synthesizes the virtual view image using a set of planar regions as well as a set of corresponding
homographies. Experimental comparisons with the images synthesized using the actual three-dimensional
(3-D) scene structure and camera poses show that the proposed method effectively describes scene changes by viewpoint movements without estimation of 3-D and camera information.
EVALUATION OF THE VISUAL ODOMETRY METHODS FOR SEMI-DENSE REAL-TIMEacijjournal
Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration
Rovers.
This paper, firstly, discusses two popular existing visual odometry approaches, namely LSD-SLAM and ORB-SLAM2 to improve the performance metrics of visual SLAM systems using Umeyama Method. We carefully evaluate the methods referred to above on three different well-known KITTI datasets, EuRoC
MAV dataset, and TUM RGB-D dataset to obtain the best results and graphically compare the results to evaluation metrics from different visual odometry approaches.
Secondly, we propose an approach running in real-time with a stereo camera, which combines an existing feature-based (indirect) method and an existing feature-less (direct) method matching with accurate semidense direct image alignment and reconstructing an accurate 3D environment directly on pixels that have image gradient.
Leader Follower Formation Control of Ground Vehicles Using Dynamic Pixel Coun...ijma
This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation
control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the
leader for motions along line of sight as well as the obliquely inclined directions are considered based on
pixel variation of the images by referencing to two arbitrarily designated positions in the image frames.
Based on an established relationship between the displacement of the camera movement along the viewing
direction and the difference in pixel counts between reference points in the images, the range and the angle
estimate between the follower camera and the leader is calculated. The Inverse Perspective Transform is
used to account for non linear relationship between the height of vehicle in a forward facing image and its
distance from the camera. The formulation is validated with experiments.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A Detailed Analysis on Feature Extraction Techniques of Panoramic Image Stitc...IJEACS
Image stitching is a technique which is used for attaining a high resolution panoramic image. In this technique, distinct aesthetic images that are imaged from different view and angles are combined together to produce a panoramic image. In the field of computer graphics, photographic and computer vision, Image stitching techniques are considered as current research areas. For obtaining a stitched image it becomes mandatory that one should have the knowledge of geometric relations among multiple image co-ordinate system [1].First, image stitching will be done based on feature key point matches. Final image with seam will be blended with image blending technique. Hence in this paper we are going to address multiple distinct techniques like some invariant features as Scale Invariant Feature Transform and Speeded up Robust Transform and Corner techniques as Harris Corner Detection Technique that are useful in sorting out the issues related with stitching of images.
New geometric interpretation and analytic solution for quadrilateral reconstr...Joo-Haeng Lee
Accepted as poster presentation for ICPR 2014, Stockholm, Sweden on August 24~28, 2014.
[Revised Version]
Title: New geometric interpretation and analytic solution for quadrilateral reconstruction
Author: Joo-Haeng Lee
Affiliation: Human-Robot Interaction Research Team, ETRI, KOREA
Abstract:
A new geometric framework, called generalized coupled line camera (GCLC), is proposed to derive an analytic solution to reconstruct an unknown scene quadrilateral and the relevant projective structure from a single or multiple image quadrilaterals. We extend the previous approach developed for rectangle to handle arbitrary scene quadrilaterals. First, we generalize a single line camera by removing the centering constraint that the principal axis should bisect a scene line. Then, we couple a pair of generalized line cameras to model a frustum with a quadrilateral base. Finally, we show that the scene quadrilateral and the center of projection can be analytically reconstructed from a single view when prior knowledge on the quadrilateral is available. A completely unknown quadrilateral can be reconstructed from four views through non-linear optimization. We also describe a improved method to handle an off-centered case by geometrically inferring a centered proxy quadrilateral, which accelerates a reconstruction process without relying on homography. The proposed method is easy to implement since each step is expressed as a simple analytic equation. We present the experimental results on real and synthetic examples.
[Submitted Version]
Title: Generalized Coupled Line Cameras and Application in Quadrilateral Reconstruction
Abstract:
Coupled line camera (CLC) provides a geometric framework to derive an analytic solution to reconstruct an unknown scene rectangle and the relevant projective structure from a single image quadrilateral. We extend this approach as generalized coupled line camera (GCLC) to handle a scene quadrilateral. First, we generalize a single line camera by removing the centering constraint that the principal axis should bisect a scene line. Then, we couple a pair of generalized line cameras to model a frustum with a quadrilateral base. Finally, we show that the scene quadrilateral and the center of projection can be analytically reconstructed from a single view when prior knowledge on the quadrilateral is available. ...
Uncalibrated View Synthesis Using Planar Segmentation of Images ijcga
This paper presents an uncalibrated view synthesis method using piecewise planar regions that are extracted from a given set of image pairs through planar segmentation. Our work concentrates on a view synthesis method that does not need estimation of camera parameters and scene structure. For our goal, we simply assume that images of real world are composed of piecewise planar regions. Then, we perform view
synthesis simply with planar regions and homographies between them. Here, for accurate extraction of planar homographies and piecewise planar regions in images, the proposed method employs iterative homography estimation and color segmentation-based planar region extraction. The proposed method
synthesizes the virtual view image using a set of planar regions as well as a set of corresponding
homographies. Experimental comparisons with the images synthesized using the actual three-dimensional
(3-D) scene structure and camera poses show that the proposed method effectively describes scene changes by viewpoint movements without estimation of 3-D and camera information.
EVALUATION OF THE VISUAL ODOMETRY METHODS FOR SEMI-DENSE REAL-TIMEacijjournal
Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration
Rovers.
This paper, firstly, discusses two popular existing visual odometry approaches, namely LSD-SLAM and ORB-SLAM2 to improve the performance metrics of visual SLAM systems using Umeyama Method. We carefully evaluate the methods referred to above on three different well-known KITTI datasets, EuRoC
MAV dataset, and TUM RGB-D dataset to obtain the best results and graphically compare the results to evaluation metrics from different visual odometry approaches.
Secondly, we propose an approach running in real-time with a stereo camera, which combines an existing feature-based (indirect) method and an existing feature-less (direct) method matching with accurate semidense direct image alignment and reconstructing an accurate 3D environment directly on pixels that have image gradient.
Leader Follower Formation Control of Ground Vehicles Using Dynamic Pixel Coun...ijma
This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation
control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the
leader for motions along line of sight as well as the obliquely inclined directions are considered based on
pixel variation of the images by referencing to two arbitrarily designated positions in the image frames.
Based on an established relationship between the displacement of the camera movement along the viewing
direction and the difference in pixel counts between reference points in the images, the range and the angle
estimate between the follower camera and the leader is calculated. The Inverse Perspective Transform is
used to account for non linear relationship between the height of vehicle in a forward facing image and its
distance from the camera. The formulation is validated with experiments.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A Detailed Analysis on Feature Extraction Techniques of Panoramic Image Stitc...IJEACS
Image stitching is a technique which is used for attaining a high resolution panoramic image. In this technique, distinct aesthetic images that are imaged from different view and angles are combined together to produce a panoramic image. In the field of computer graphics, photographic and computer vision, Image stitching techniques are considered as current research areas. For obtaining a stitched image it becomes mandatory that one should have the knowledge of geometric relations among multiple image co-ordinate system [1].First, image stitching will be done based on feature key point matches. Final image with seam will be blended with image blending technique. Hence in this paper we are going to address multiple distinct techniques like some invariant features as Scale Invariant Feature Transform and Speeded up Robust Transform and Corner techniques as Harris Corner Detection Technique that are useful in sorting out the issues related with stitching of images.
New geometric interpretation and analytic solution for quadrilateral reconstr...Joo-Haeng Lee
Accepted as poster presentation for ICPR 2014, Stockholm, Sweden on August 24~28, 2014.
[Revised Version]
Title: New geometric interpretation and analytic solution for quadrilateral reconstruction
Author: Joo-Haeng Lee
Affiliation: Human-Robot Interaction Research Team, ETRI, KOREA
Abstract:
A new geometric framework, called generalized coupled line camera (GCLC), is proposed to derive an analytic solution to reconstruct an unknown scene quadrilateral and the relevant projective structure from a single or multiple image quadrilaterals. We extend the previous approach developed for rectangle to handle arbitrary scene quadrilaterals. First, we generalize a single line camera by removing the centering constraint that the principal axis should bisect a scene line. Then, we couple a pair of generalized line cameras to model a frustum with a quadrilateral base. Finally, we show that the scene quadrilateral and the center of projection can be analytically reconstructed from a single view when prior knowledge on the quadrilateral is available. A completely unknown quadrilateral can be reconstructed from four views through non-linear optimization. We also describe a improved method to handle an off-centered case by geometrically inferring a centered proxy quadrilateral, which accelerates a reconstruction process without relying on homography. The proposed method is easy to implement since each step is expressed as a simple analytic equation. We present the experimental results on real and synthetic examples.
[Submitted Version]
Title: Generalized Coupled Line Cameras and Application in Quadrilateral Reconstruction
Abstract:
Coupled line camera (CLC) provides a geometric framework to derive an analytic solution to reconstruct an unknown scene rectangle and the relevant projective structure from a single image quadrilateral. We extend this approach as generalized coupled line camera (GCLC) to handle a scene quadrilateral. First, we generalize a single line camera by removing the centering constraint that the principal axis should bisect a scene line. Then, we couple a pair of generalized line cameras to model a frustum with a quadrilateral base. Finally, we show that the scene quadrilateral and the center of projection can be analytically reconstructed from a single view when prior knowledge on the quadrilateral is available. ...
A survey on road extraction from color image using vectorizationeSAT Journals
Abstract Road extraction can be defined as extracting the roads from an image by accessing it through the features of road. Road information can be extracted from images in three ways: manual extraction, semi-automated extraction and fully automated detection. In this paper we review various research papers of road extraction methods. Most of the work focused on road extraction from grayscale images. Our proposed approach is to extract road from color image using vectorization. Vectorization is performed using canny edge detection and CDT (Constrained Delaunay Triangulation) and then grouped resulting triangles into polygons to make up vector image. A sequence of pre-processing steps is applied to get better quality of image and to produce extended road network before vectorization. At the end, skeletonization is used to transform the components of digital image into original components.
Keywords: vectorization, constrained Delaunay triangulation, canny edge detection, skeletonization,
Based on the cross section contour surface model reconstructionIJRES Journal
Based on the characteristics of the reverse engineering modeling technology, can effectively restore
the original design intent of products, to shorten the development period of industrial products, improve the
industrial fields of product innovation design ability of major significance and value. This paper STL Viewer
software to obtain the section curve of refactoring, obtaining high quality of reconstruction model, through cross
section data preprocessing in the first place, the cross section data are the initial segmentation; Secondly to add
constraint section curve reconstruction; The last generation CAD model. Examples prove that this method is
feasible and effective.
Dynamic texture based traffic vehicle monitoring systemeSAT Journals
Abstract Dynamic Textures are function of both space and time which exhibit spatio-temporal stationary property. They have spatially repetitive patterns which vary with time. In this paper, importance of phase spectrum in the signals is utilized and a novel method for vehicle monitoring is proposed with the help of Fourier analysis, synthesis and image processing. Methods like Doppler radar or GPS navigation are used commonly for tracking. The proposed image based approach has an added advantage that the clear image of the object (vehicle) can be used for future reference like proof of incidence, identification of owner and registration number. Keywords-Fourier Transform, dynamic texture, phase spectrum
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
Using Generic Image Processing Operations to Detect a Calibration GridJan Wedekind
Camera calibration is an important problem in 3D computer vision. The problem of determining the camera parameters has been studied extensively. However the algorithms for determining the required correspondences are either semi-automatic (i.e. they require user interaction) or they involve difficult to implement custom algorithms.
We present a robust algorithm for detecting the corners of a calibration grid and assigning the correct correspondences for calibration . The solution is based on generic image processing operations so that it can be implemented quickly. The algorithm is limited to distortion-free cameras but it could potentially be extended to deal with camera distortion as well. We also present a corner detector based on steerable filters. The corner detector is particularly suited for the problem of detecting the corners of a calibration grid.
- See more at: http://figshare.com/articles/Using_Generic_Image_Processing_Operations_to_Detect_a_Calibration_Grid/696880#sthash.EG8dWyTH.dpuf
SHORT LISTING LIKELY IMAGES USING PROPOSED MODIFIED-SIFT TOGETHER WITH CONVEN...ijfcstjournal
The paper proposes the modified-SIFT algorithm which will be a modified form of the scale invariant feature transform. The modification consists of considering successive groups of 8 rows of pixel, along the height of the image. These are used to construct 8 bin histograms for magnitude as well as orientation individually. As a result the number of feature descriptors is significantly less (95%) than the standard SIFT approach. Fewer feature descriptor leads to reduced accuracy. This reduction in accuracy is quite drastic when searching for a single (RANK1) image match; however accuracy improves if a band of likely (say tolerance of 10%) images is to be returned. The paper therefore proposes a two-stage-approach where
First Modified-SIFT is used to obtain a shortlisted band of likely images subsequently SIFT is applied within this band to find a perfect match. It may appear that this process is tedious however it provides a significant reduction in search time as compared to applying SIFT on the entire database. The minor reduction in accuracy can be offset by the considerable time gained while searching a large database. The
modified-SIFT algorithm when used in conjunction with a face cropping algorithm can also be used to find a match against disguised images.
Alternative Method for Determining the Elastic Modulus of ConcreteIJERA Editor
This paper presents the use of the technique of digital image correlation for obtaining the elasticity modulus of
concrete. The proposed system uses a USB microscope that captures images at a rate of five frames per second.
The stored data are correlated with the applied loads, and a stress-strain curve is generated to determine the
concrete compressive modulus of elasticity. Two different concretes were produced and tested using the
proposed system. The results were compared with the results obtained using a traditional strain gauge. It was
observed a difference in the range of 4% between the two methods, wherein this difference depends of a lot of
parameter in the case of the DIC results, as focal length and a video capture resolution, indicating that DIC
technique can be used to obtain mechanical properties of concrete.
A digital image forensic approach to detect whether
an image has been seam carved or not is investigated herein.
Seam carving is a content-aware image retargeting technique
which preserves the semantically important content of an image
while resizing it. The same technique, however, can be used
for malicious tampering of an image. 18 energy, seam, and
noise related features defined by Ryu [1] are produced using
Sobel’s [2] gradient filter and Rubinstein’s [3] forward energy
criterion enhanced with image gradients. An extreme gradient
boosting classifier [4] is trained to make the final decision.
Experimental results show that the proposed approach improves
the detection accuracy from 5 to 10% for seam carved images
with different scaling ratios when compared with other state-ofthe-
art methods.
A survey on road extraction from color image using vectorizationeSAT Journals
Abstract Road extraction can be defined as extracting the roads from an image by accessing it through the features of road. Road information can be extracted from images in three ways: manual extraction, semi-automated extraction and fully automated detection. In this paper we review various research papers of road extraction methods. Most of the work focused on road extraction from grayscale images. Our proposed approach is to extract road from color image using vectorization. Vectorization is performed using canny edge detection and CDT (Constrained Delaunay Triangulation) and then grouped resulting triangles into polygons to make up vector image. A sequence of pre-processing steps is applied to get better quality of image and to produce extended road network before vectorization. At the end, skeletonization is used to transform the components of digital image into original components.
Keywords: vectorization, constrained Delaunay triangulation, canny edge detection, skeletonization,
Based on the cross section contour surface model reconstructionIJRES Journal
Based on the characteristics of the reverse engineering modeling technology, can effectively restore
the original design intent of products, to shorten the development period of industrial products, improve the
industrial fields of product innovation design ability of major significance and value. This paper STL Viewer
software to obtain the section curve of refactoring, obtaining high quality of reconstruction model, through cross
section data preprocessing in the first place, the cross section data are the initial segmentation; Secondly to add
constraint section curve reconstruction; The last generation CAD model. Examples prove that this method is
feasible and effective.
Dynamic texture based traffic vehicle monitoring systemeSAT Journals
Abstract Dynamic Textures are function of both space and time which exhibit spatio-temporal stationary property. They have spatially repetitive patterns which vary with time. In this paper, importance of phase spectrum in the signals is utilized and a novel method for vehicle monitoring is proposed with the help of Fourier analysis, synthesis and image processing. Methods like Doppler radar or GPS navigation are used commonly for tracking. The proposed image based approach has an added advantage that the clear image of the object (vehicle) can be used for future reference like proof of incidence, identification of owner and registration number. Keywords-Fourier Transform, dynamic texture, phase spectrum
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
Using Generic Image Processing Operations to Detect a Calibration GridJan Wedekind
Camera calibration is an important problem in 3D computer vision. The problem of determining the camera parameters has been studied extensively. However the algorithms for determining the required correspondences are either semi-automatic (i.e. they require user interaction) or they involve difficult to implement custom algorithms.
We present a robust algorithm for detecting the corners of a calibration grid and assigning the correct correspondences for calibration . The solution is based on generic image processing operations so that it can be implemented quickly. The algorithm is limited to distortion-free cameras but it could potentially be extended to deal with camera distortion as well. We also present a corner detector based on steerable filters. The corner detector is particularly suited for the problem of detecting the corners of a calibration grid.
- See more at: http://figshare.com/articles/Using_Generic_Image_Processing_Operations_to_Detect_a_Calibration_Grid/696880#sthash.EG8dWyTH.dpuf
SHORT LISTING LIKELY IMAGES USING PROPOSED MODIFIED-SIFT TOGETHER WITH CONVEN...ijfcstjournal
The paper proposes the modified-SIFT algorithm which will be a modified form of the scale invariant feature transform. The modification consists of considering successive groups of 8 rows of pixel, along the height of the image. These are used to construct 8 bin histograms for magnitude as well as orientation individually. As a result the number of feature descriptors is significantly less (95%) than the standard SIFT approach. Fewer feature descriptor leads to reduced accuracy. This reduction in accuracy is quite drastic when searching for a single (RANK1) image match; however accuracy improves if a band of likely (say tolerance of 10%) images is to be returned. The paper therefore proposes a two-stage-approach where
First Modified-SIFT is used to obtain a shortlisted band of likely images subsequently SIFT is applied within this band to find a perfect match. It may appear that this process is tedious however it provides a significant reduction in search time as compared to applying SIFT on the entire database. The minor reduction in accuracy can be offset by the considerable time gained while searching a large database. The
modified-SIFT algorithm when used in conjunction with a face cropping algorithm can also be used to find a match against disguised images.
Alternative Method for Determining the Elastic Modulus of ConcreteIJERA Editor
This paper presents the use of the technique of digital image correlation for obtaining the elasticity modulus of
concrete. The proposed system uses a USB microscope that captures images at a rate of five frames per second.
The stored data are correlated with the applied loads, and a stress-strain curve is generated to determine the
concrete compressive modulus of elasticity. Two different concretes were produced and tested using the
proposed system. The results were compared with the results obtained using a traditional strain gauge. It was
observed a difference in the range of 4% between the two methods, wherein this difference depends of a lot of
parameter in the case of the DIC results, as focal length and a video capture resolution, indicating that DIC
technique can be used to obtain mechanical properties of concrete.
A digital image forensic approach to detect whether
an image has been seam carved or not is investigated herein.
Seam carving is a content-aware image retargeting technique
which preserves the semantically important content of an image
while resizing it. The same technique, however, can be used
for malicious tampering of an image. 18 energy, seam, and
noise related features defined by Ryu [1] are produced using
Sobel’s [2] gradient filter and Rubinstein’s [3] forward energy
criterion enhanced with image gradients. An extreme gradient
boosting classifier [4] is trained to make the final decision.
Experimental results show that the proposed approach improves
the detection accuracy from 5 to 10% for seam carved images
with different scaling ratios when compared with other state-ofthe-
art methods.
Motion compensation for hand held camera deviceseSAT Journals
Abstract
With handy camera image is not enough stable at that time stabilization method is used to recover that shaky effect. So, stabilization of image is concept to recover the scale and theta of shaky image. For that algorithm should be able to stabilize the image with maximum original information from that shaky input image. And from this image stabilization algorithm we can use this as a fundamental concept to stabilize the video. Here in this paper algorithm is applied for 2D image and measure the efficiency of that algorithm
Keywords: Motion estimation; Feature detection methods; FAST feature detection
GPGPU-Assisted Subpixel Tracking Method for Fiducial MarkersNaoki Shibata
With an aim to realizing highly accurate position estimation, we propose in this paper a method for efficiently and accurately detecting the 3D positions and poses of traditional fiducial markers with black frames in high resolution images taken by ordinary web cameras. Our tracking method can be efficiently executed utilizing GPGPU computation, and in order to realize this, we devised a connected-component labeling method suitable for GPGPU execution. In order to improve accuracy, we devised a method for detecting 2D positions of the corners of markers in subpixel accuracy. We implemented our method in Java and OpenCL, and we confirmed that the proposed method provides better detection and measurement accuracy, and recognizing from high-resolution images is beneficial for improving accuracy. We also confirmed that our method is more than two times as fast as the existing method with CPU computation.
A ROS IMPLEMENTATION OF THE MONO-SLAM ALGORITHMcsandit
Computer vision approaches are increasingly used in mobile robotic systems, since they allow
to obtain a very good representation of the environment by using low-power and cheap sensors.
In particular it has been shown that they can compete with standard solutions based on laser
range scanners when dealing with the problem of simultaneous localization and mapping
(SLAM), where the robot has to explore an unknown environment while building a map of it and
localizing in the same map. We present a package for simultaneous localization and mapping in
ROS (Robot Operating System) using a monocular camera sensor only. Experimental results in
real scenarios as well as on standard datasets show that the algorithm is able to track the
trajectory of the robot and build a consistent map of small environments, while running in near
real-time on a standard PC.
International Journal of Engineering Research and Development (IJERD)IJERD Editor
journal publishing, how to publish research paper, Call For research paper, international journal, publishing a paper, IJERD, journal of science and technology, how to get a research paper published, publishing a paper, publishing of journal, publishing of research paper, reserach and review articles, IJERD Journal, How to publish your research paper, publish research paper, open access engineering journal, Engineering journal, Mathemetics journal, Physics journal, Chemistry journal, Computer Engineering, Computer Science journal, how to submit your paper, peer reviw journal, indexed journal, reserach and review articles, engineering journal, www.ijerd.com, research journals,
yahoo journals, bing journals, International Journal of Engineering Research and Development, google journals, hard copy of journal
Image fusion using nsct denoising and target extraction for visual surveillanceeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
The Technology Research of Camera Calibration Based On LabVIEWIJRES Journal
The technology of camera calibration is most important part for machine vision detection and
location, the accuracy of calibration directly determines the processing accuracy of machine vision systems. In
this paper, we use LabVIEW and MATLAB to calibrate the internal and external parameters of the camera, at
the same time, we use dot calibration board, the circle edge is detected by Canny operator, then with the method
of circle fitting based on subpixel edge extraction, the information of dots image coordinate is extracted. The
present method reduces the difficulty of camera calibration and shortens the software development cycle, the
most important is that it has a high calibration accuracy, which can meet the actual industrial detection accuracy,
the results of experimental show that the method is feasible.
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity.
An efficient VLSI architecture implementation for barrel distortion correction in surveillance camera images is presented. The distortion correction model is based on least squares estimation method. To reduce the computing complexity, an odd-order polynomial to approximate the back-mapping expansion polynomial is used. By algebraic transformation, the approximated polynomial becomes a monomial form which can be solved by Horner’s algorithm. The proposed VLSI architecture can achieve frequency 218MHz with 1490 logic elements by using 0.18μm technology. Compared with previous techniques, the circuit reduces the hardware cost and the requirement of memory usage.
Gait Based Person Recognition Using Partial Least Squares Selection Scheme ijcisjournal
The variations of viewing angle and intra-class of human beings have great impact on gait recognition
systems. This work represents an Arbitrary View Transformation Model (AVTM) for recognizing the gait.
Gait energy image (GEI) based gait authentication is effective approach to address the above problem, the
method establishes an AVTM based on principle component analysis (PCA). Feature selection (FS) is
performed using Partial least squares (PLS) method. The comparison of the AVTM PLS method with the
existing methods shows significant advantages in terms of observing angle variation, carrying and attire
changes. Experiments evaluated over CASIA gait database, shows that the proposed method improves the
accuracy of recognition compared to the other existing methods.
Time Multiplexed VLSI Architecture for Real-Time Barrel Distortion Correction...ijsrd.com
A low-cost very large scale integration (VLSI) implementation of real-time correction of barrel distortion for video- endoscopic images is presented in this paper. The correcting mathematical model is based on least-squares estimation. To decrease the computing complexity, we use an odd-order polynomial to approximate the back-mapping expansion polynomial. By algebraic transformation, the approximated polynomial becomes a monomial form which can be solved by Hornor's algorithm. With the iterative characteristic of Hornor's algorithm, the hardware cost and memory requirement can be conserved by time multiplexed design. In addition, a simplified architecture of the linear interpolation is used to reduce more computing resource and silicon area. The VLSI architecture of this paper contains 13.9-K gates by using a 0.18 μm CMOS process. Compared with some existing distortion correction techniques, this paper reduces at least 69% hardware cost and 75% memory requirement.
The effect of functionalized carbon nanotubes on thermalmechanical performanc...journal ijrtem
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investigated and the results were reported in this paper. The physic-chemical techniques such as Differential
scanning calorimetry (DSC) and Thermal gravimetric analysis (TGA) were used to characterize the thermal
performance of Epoxy nanocomposite coating. The test techniques for mechanical properties of paint coating as
adhesion, hardness, impact resistance and bending strength were employed in the work. The results indicated
that CNTs were dispersed in epoxy coating with only ratio of 0.1 wt% enhanced the Glass Transition
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Development Issues and Problems of Selected Agency in Sorsogon, An investigat...journal ijrtem
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public. The agencies covered by the study are the employers of the students enrolled in Public Administration
512 subject in the graduate school program of the Sorsogon State College 1st semester SY 2016. Guided by a
structured matrix questionnaire and checklist, the class spearheaded by the assigned focal person per
identified respondent-agency conducted a focus group discussion covering sequentially the issues and
problems besetting the organization. It likewise pursued how does it affects the management & performance of
the office and ultimately identifying possible solutions out of the issues and problems. Result revealed that
most pressing problems and issues of the selected agency in the province of Sorsogon covers; (a) understaffed,
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Positive and negative solutions of a boundary value problem for a fractional ...journal ijrtem
: In this work, we study a boundary value problem for a fractional
q, -difference equation. By
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negative solutions under the nonlinear term is local continuity and local monotonicity. The results show that we
can construct two iterative sequences for approximating the solutions
Organic foods refer to products that are grown naturally or produced by methods that comply
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popular and everyone wants to know about their benefits. This paper provides a brief introduction on organic
foods and their pros and cons.
Molecular computers are systems in which molecules or macromolecules individually mediate
information processing functions. Molecular computing provides an alternative to computing using silicon
integrated circuits. It aims at developing intelligent computers using biological molecules as computational
devices. It is a promising means of unconventional computation owing to its capability for massive parallelism.
It offers to augment digital computing with biology-like capabilities. This paper provides a brief introduction to
molecular computing.
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of Industry 4.0 (sometimes referred to as the 4th Industrial Revolution) affects most processes and people
throughout society. This paper provides a brief introduction to Industry 4.0.
With mounting concerns over the state of our planet, there is continuing demand that chemists
and chemical engineers should develop greener chemical processes and products. In the 1990s, with the
growing awareness of the hazardous impacts of the chemical industry, the green chemistry revolution was
launched by American chemists Paul T. Anastas and John Warner. Green chemistry is the kind of chemistry that
seeks to minimize pollution, conserve energy, and promote environmentally friendly production. This paper
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by rural people. The objective of this study is to assess rural livelihood and food security status of a remote island
named Srilanka Tapu of Sunsari district. A random sampling technique was used to collect primary data from 40
rural household heads using semi-structured questionnaire. Descriptive methods were used for analyzing. The
findings revealed that the food security situation of the Tapu is insecure. Most basic infrastructures and social
services needed for people livelihood such as road, electricity sufficient food availability, education, healthcare,
sanitation, etc. were found to be extremely poor. Most of the households are small scale farmers involving
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people are fulfilling their food needs at every cost but are highly vulnerable to food insecurity. Also, their lives
security is equally vulnerable because of disastrous Koshi River flooding which occurs every year in the Tapu.
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at top priority in policy formulation and implementation level. The study also recommends a need for an in-depth
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several cases uses designed and implemented for tourism. The discussion leads to formation of frameworks and
best practices for AR as well as virtual reality(VR) to be used in tourism settings. Some main affordances include
guest autonomy, customized experiences, visitor data collection and increased electronic word-of-mouth
generation for promotion purposes. Some challenges found include the need for high levels of technology
infrastructure, low adoption rates or ‘buy-in’ rates, high levels of calibration and customization, and the need for
maintenance and support services. Some suggestions are given as to how to leverage the affordances and meet
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and ignore the financial aspects of the supply chain. The main objective to incorporate financial aspects in
supply chain management is to strengthen managerial decisions concerning financial flows in supply chains,
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presents a model for FSCM which financial planning in addition to operation planning is decided in it. The
main contribution of this paper is to define two approaches for Financial Supply Chain Management and to
compare them. This financial approaches are: Traditional financial approach and new financial approach.
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considers in making decisions other financial indicators such as market to book value, liquidity ratios, capital
structure ratios, and return on equity, sales margin, turnover ratios and stock security ratios, among others.
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as the objective function to be maximized in the presented model. To show the attributes of the presented
approaches, the results of the new approach and the traditional approach is compared. The findings indicate
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results clearly reveal the better improvement of using the new approach over the traditional approach, and
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is equivalent to the problem we are going to investigate, the Green’s functions are obtained. By defining a
continuous operator on a Banach space and taking advantage of the cone theory and some fixed-point theorems,
the existence of multiple positive solutions for the BVPs is proved based on some properties of Green’s functions
and under the circumstance that the continuous functions f satisfy certain hypothesis. Finally, examples are
provided to illustrate the results.
The following Project shows the benefits of a research established into a multi-products
warehouse belongs to an automotive industry supplier. The main goal was applied a tool recognizing the rules
for distribution and material storage. Once the research was completed, the benefits were, the idle times
reduction per hours/week by the two initial processes. The politics for storage assignment and location, propose
a system to improve the space into this areain order to avoid material management and flow issues. It is
important to mention, the system proposed could be applied into warehouses with storage size and space
restricted by sorting area, also different material types, production settings and physical specifications for
which set warehouses with traditional management of distribution without slack, involves lack of materials,
pieces without records, incorrect location assigned, stock error.
Study of desalination processes of seawater from the desalination plant of La...journal ijrtem
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parameters such as pH, conductivity, turbidity.
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banks in Rwanda. A descriptive research design was used. The population comprised of 148 employees of ZIGMA
CSS from which a sample of 108 employees was determined using Solvirn and Yemen’s formula. Data was
collected from both primary and secondary sources using questionnaires and document analysis. Data was
presented using frequency tables from which analysis was made. A multi regression analysis was used to analyse
relationship between the variables. The results from the survey revealed that ZIGMA CSS uses various cash
management techniques in the cash management. The results further revealed a strong relationship between cash
management and financial performance of ZIGMA CSS. The study concludes that cash management is a key tool
in the financial management of the banks since cash forms the biggest asset of the bank. Cooperatives banks
should ensure that they develop policies in effective cash management.
Technical expertise on the cause of engine failure of the Mitsubishi Pajero S...journal ijrtem
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vehicle was being repaired to eliminate air conditioning malfunction and engine overheating. When repairing, it
was necessary to replace a cylinder head and the pistons were checked removing the pully from a crank shaft.
After the repair had been completed and after 16-day vehicle operation, engine timing belts got damaged. To
eliminate this malfunction, damaged belts were replaced. Thirty (30) days after the vehicle had been put into
operation, emergency engine failure occurred, and a technical expert was called upon to assess the quality of the
repairs having been performed. The article describes the procedures and methodology a technical expert applied.
In the conclusion, the findings are stated. To determine the cause, a vehicle was on the car service station
premises, where a technical expert was present and according to his instructions, diagnostic and subsequent
disassembly works have been done. The procedure of evaluating the key characteristics on individual parts, their
display, and the resulting evaluation are described.
Clustering based Time Slot Assignment Protocol for Improving Performance in U...journal ijrtem
Recently, numerous approaches have been proposed for designing medium access control (MAC)
in underwater acoustic networks (UANs). Some of those works tried to adapt MAC protocols proposed for
terrestrial networks. However, unique environmental characteristics of UANs make the MAC protocols hard to be
used in the UANs and degrade network performance. In order to improve network performance, COD-TS MAC
protocol was proposed. COD-TS focuses on both single hop and multi-hop mode and utilizes CDMA for
exchanging schedule information between cluster heads. COD-TS has shortcomings such as collisions, additional
energy consumption by exchanging schedule information and near-far effect of CDMA. To overcome above
shortcomings, we propose a clustering-based time slot assignment protocol. In the proposed protocol, nodes are
clustered, and each cluster head performs two-hop neighbor cluster discovery operation. And then, a cluster head
obtains its own relative position information. Finally, the cluster head assigns its own time slot for data
transmission based on the information. Simulation results show that the proposed protocol has always better
performance compared to the COD-TS.
Design and Implementation of Smart Bell Notification System using IoT journal ijrtem
Smart phones have become part of our daily life. People using smart phones have increased
rapidly. The proposed paper is to provide a security system that combines the functions of smart phone and home
network system. It enables the users to check the image of the visitor who is present at the door. It also saves all
the images in their drive. We send an alert message to the Owner whenever the doorbell is pressed. Furthermore,
the owner can call to the visitor with the help of our app. We are also providing a link in the SMS sent so that it
redirects the user to the app
Assessment of the Water Quality of Lake Sidi Boughaba (Ramsar Site 1980) Keni...journal ijrtem
Sidi Boughaba Lake, part of a wetland complex of Morocco (Ramsar site in 1980) is located on
the Atlantic coast of northwestern Morocco, oriented NNE - SSW and located in an interdunal depression. The
existence of this body of water is due to the fact that the topographic surface is at a lower cost than that of the
piezometric surface of the coastal water table, rainwater and runoff water. The objective of this study is to
determine the physical and chemical characteristics of the waters of this lake. Thus, several water samples were
taken monthly in the period 2016-2017. Parameters such as: temperature, pH, electrical conductivity (EC),
chloride (Cl-
), turbidity (NTU), calcium (Ca2+) and magnesium (Mg2+). The results obtained show that the
distribution of the analyzed elements in Lake waters is quite variable between seasons, as well as between stations.
However, the analysis showed that the studied waters are very mineralized, with an EC between 7 g/l and 14.8
g/l. This mineralization is essentially evaporitic and is controlled by various processes, such as evaporation and
marine influence by aerosol.
The case of a cyclist and tractor traffic accident journal ijrtem
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take into account the real influences that affect individual participants. This is especially important for accidents
in which one of the participants is cyclist. Technical expert must consider all the circumstances necessary to
assess the cyclist´s behavior. Negligible is not even the age of a cyclist, since in the case of a child or an old man
the driver overtaking bicycle should take this into consideration. The article deals with case of traffic accident
between tractor with the trailer and a bicycle which was riding by cyclist at the age of 80. Apart from the described
procedure by expert in the calculations, the influences on participants' behavior are also discussed
: This paper is aimed at designing a density based dynamic traffic signal system where the timing
of signal will change automatically on sensing the traffic density at any junction using the IoT technology. Traffic
congestion is a severe problem in most cities across the world and therefore it is time to shift more manual mode
or fixed timer mode to an automated system with decision making capabilities. To optimize this problem, we have
made a framework for an intelligent traffic control system. Sometimes higher traffic density at one side of the
junction demands longer green time as compared to standard allotted time. We therefore propose here a
mechanism in which the time period of green light and red light is assigned on the basis of the density of the
traffic present at the time. This is achieved by using LIDAR sensors.
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Water billing management system project report.pdfKamal Acharya
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The aim of our project is to develop a system that is meant to partially computerize the work performed in the Water Board like generating monthly Water bill, record of consuming unit of water, store record of the customer and previous unpaid record.
We used HTML/PHP as front end and MYSQL as back end for developing our project. HTML is primarily a visual design environment. We can create a android application by designing the form and that make up the user interface. Adding android application code to the form and the objects such as buttons and text boxes on them and adding any required support code in additional modular.
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Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
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This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
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When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
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Governing Equations for Fundamental Aerodynamics_Anderson2010.pdf
Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
1. Invention Journal of Research Technology in Engineering & Management (IJRTEM)
ISSN: 2455-3689
www.ijrtem.com Volume 1 Issue 4 ǁ June. 2016 ǁ PP 16-23
| Volume 1| Issue 4 | www.ijrtem.com | June 2016| 16
Contours Planning and Visual Servo Control of XXY Positioning System Using
NURBS Interpolation Approach
Syuan-Yi Chen1
, Yu-Hsuan Lai2
, Han-Ting Lu3
1,2,3
Department of Electrical Engineering, National Taiwan Normal University, Taiwan, R.O.C
ABSTRACT : This study aims to develop contours planning and visual servo control technologies for a XXY positioning stage for
tracking the two-dimensional contours precisely. First, the two-dimensional contours are planned by using the non-uniform rational
basis spline (NURBS) interpolation approach. Subsequently, the visual servo control mechanism, which involves five steps image
processing procedures, is further designed to perform the closed-loop motion control for high-precision positioning performance.
During the control process, the positioning error is monitored online. If the positioning error is larger than the pre-defined threshold,
a compensation control will be executed immediately to compensate the inaccurate motions. In addition, a friendly human-machine
interface (HMI), which can show the movement of the stage in real-time, is developed. Finally, the experimental results demonstrated
the favorable positioning performance of the XXY positioning system for tracking the two-dimensional contours.
Keywords: Image processing, NURBS, positioning control, XXY positioning stage.
1. Introduction
High-precision XXY positioning stage is competitive on the market due to its smaller dimensions, larger weight-carrying
capacity, and faster positioning speed comparing with the traditional XYθ stage [1]. Therefore, it has attracted increasing attentions
significantly for wide engineering, industrial, scientific and biomedical applications [2]. Because the positioning performance plays an
important role on the process of manufacturing, many advanced control technologies have been developed for the positioning and
auto-alignment of the XXY positioning stage [2]-[5]. On the other hand, because vision system is able to recognize the images just like
human’s eyes, it has been adopted popularly to improve the accuracy of the system and avoid the defect from manual operations
effectively [2], [5]. In this study, the trajectory planning and visual servo control technologies for the XXY positioning stage are
developed using NURBS interpolation approach [6]. The experimental results due to various two-dimensional contours show the stable
and high-precision positioning performance.
2. XXY Positioning System
The XXY positioning system is composed of a XXY positioning stage (AF-XXY-NR1-175-R28, Chiuan Yan Ltd.), a CMOS
camera (Lu375c, Lumenera), three drivers (EXD2020MB) and a personal computer (PC)-based control core as shown in Fig. 1. In the
system, the XXY positioning stage uses X1, X2 and Y axes step motors with coupling, ball screw, screw mount, crossed ball bearing, and
slide unit to carry out ±5mm available displacement and ±1.5o
available angle of the motion as shown in Fig. 2. When the motion of the
X1 and X2 axes motors are moved for the same displacements synchronously, the stage will be moved in X-direction. Moreover, when
only the motion of Y-axis motor is moved, the stage will be moved in Y-direction. Furthermore, if the motion of the X1 and X2 axes
motors are moved for the different displacements, the stage will be rotated in clockwise or counter-clockwise directions. Obviously,
XXY stage provides various motion modes to meet the requirements of the diverse industrial applications.
The PC includes one stepper motion control card (PCI-8144, Adlink) with 2.4MHz pulse output rate is used to realize the
control algorithm for controlling the three axes motors simultaneously. Thus, the stage can be controlled to track the reference contours
precisely. On the other hand, the image processing algorithm, reference contours planning, and visual servo mechanism are realized in
the PC via Visual Basic.NET language. Moreover, the adopted camera is with 3 million pixels and 2048*1536 resolution. Through the
Ethernet interface, the camera can feedback the practical stage position information to the PC in real-time. In addition, the HMI, on
which the users can easily design the path of the positioning stage, is also developed and will be introduced later.
2. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
| Volume 1| Issue 4 | www.ijrtem.com | June 2016| 17
PCI Bus
Ethernet
Control
Signals
Drive Signals
4-axis Motion Control
Board PCI-8144
Step Motor Driver
EXD2020MB
AF-XXY-NR1-175-R28
XXY Positioning Stage
Vision Servo System Drive and Control System
X1-axis
X2-axis
Y-axis
Terminal Board
DIN-68S-01
68-pin Cable
ACL-10569-2
HMI and NURBS
Interpolation
Software
CMOS
Camera
Lu375C
Fig. 1 Structure of XXY positioning system.
Y-axis motor
Base
X1-axis
Work stage
Free-axis
X1-axis motor
X2-axis
Y-axis
X2-axis motor
X-direction
Y-direction
Fig. 2 XXY positioning stage.
3. Trajectory Planning Using NURBS Approach
The two-dimensional contours are produced using NURBS curve interpolator in this study. The NURBS interpolator can
create free-form curves easily by manipulating the values of control points, weight and knot vectors. The mathematical formulation of
NURBS curve is described as follows [6]:
n
i
ikin
i
iki
n
i
iiki
VpR
Wp
Vp
pC
0
,
0
,
0
,
)(
)(
)(
)(
(1)
and
n
i
iki
iki
ki
p
p
pR
0
,
,
,
)(
)(
)(
(2)
where Vi is the control points; ψi is the corresponding weights of Vi; n+1 is the number of control points; k is the order of the NURBS
curve; Zi,k(p) is the kth order B-spline basis function; Ri,k(p) is the rational basis function. The recursive formulae for computing
Zi,k(p) can be found as
3. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
| Volume 1| Issue 4 | www.ijrtem.com | June 2016| 18
otherwise0
for1
)( 1
1,
ii
i
ppp
p (3)
)()()( 1,1
1
1,
1
, p
pp
pp
p
pp
pp
p ki
iki
ki
ki
iki
i
ki
(4)
where P=[pi,…, pi+k] represents the knot vector.
Theoretically, by manipulating the values of control points, weights, and knots, the NURBS can produce arbitrary reference
contour. With the NURBS, the users could set up the curved path instead of the straight line. Traditionally, the curved path is made up
of the short straight line. It is hard to generate the command about the curved path. In addition, there is the unavoidable error between
the real path and the path we set. Another problem of the traditional way is that the platform need to stop or accelerate in the process of
move. Therefore, the platform didn’t move smoothly. In this study, we can improve the disadvantage of traditional way. The use of the
NURBS could let the path of the platform more flexible and changeable.
By using the NURBS interpolation approach, the new curve is totally different from the original curve as shown in Fig. 3(a)
when the control point V2 is moved to the new V2. In addition, the curve becomes sharper if the weight of the corresponding control
point is increased as shown in Fig. 3(b). Obviously, the shape of the contours can be determined via the designs of the control points and
their weights.
(a) Change the location of the control point (b) Regulate the weight of control point
Fig. 3 Illustrations of NURBS interpolation approach.
4. Image processing Algorithm
The object of the image processing is to obtain the position and angle information of the stage from the image captured by the
camera. After calculating the difference between the practical position and demand contour, the control core will calculate the
appropriate control signals for controlling the stage position accurately. The flowchart of the image processing, which include five steps
majorly, is shown in Fig.4.
In the image processing algorithm, the binarization is firstly used to transform the grayscale picture into black and white
colors. If the pixel’s grayscale is higher than the predefined threshold, it is transferred into black color. Otherwise, it is transferred into
white color. Subsequently, the dilation and erosion methods of morphological operation are adopted to filter the structure of the image.
Moreover, to find the position of the stage accurately, a Canny edge detection method is utilized to find the edge, which means the most
amount of change about the image’s grayscale , of the image. The Canny edge detection performs convolutioon for the four directions
of the binary image. They are horizontal, vertical and two diagonals directions. Thus, the gradient with direction informations of the
image’s grayscal can be obtained. After convolution, two thresholds are set to contruct a band pass filter for filtering the image.
Afterward, a binary image with clear edge can be obtained. Furthermore, the best circle method, which was developed in [1], is further
used to find accurate position of the stage. Finally, labeling procedure marks the pixels which connect with others the same label.
Because disconnected pixels are labelled with different labels, one can get clear edge of cross target. Thereafter, the target’s angle can
be calculated via the rectangle surround method.
Binarization Binarization
Canny
Edge
Detection
Labeling
Best
Circle
Method
Morphological
Operations
Image
Image
Image
Fig. 4 Image processing flowchart.
4. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
| Volume 1| Issue 4 | www.ijrtem.com | June 2016| 19
5. Visual Servo Control Method
First, the user can design the NURBS curve through the HMI. Subsequently, the software developed in the PC will transfer the
NURBS contour to the three axes motion commands and then control the XXY positioning stage to track the contour via the drivers.
During the control process, the camera will monitor the stage position meanwhile the control core will regulate the speed and position
control signals immediately for compensating the positioning error. All the process can be monitored online via the HMI. The main
procedures are listed as follows:
(1) Get coordinate and angle information of the target on the stage: The CMOS camera is used to capture the alignment target’s image
firstly. Then, the image processing algorithm is utilized to derive the target’s coordinate (x1, y1) and angle. These data are defined
as the practical stage position.
(2) Initial position alignment: Calculate the displacement and angle differences between practical stage position and predefined initial
position. Control the stage to the predefined initial position by the developed reset function.
(3) NURBS trajectory planning: Design the NURBS trajectory by adjusting the control points and corresponding weights on the HMI.
Then use its preview function to preview the contour.
(4) Motion control: Transferring the contour information to three axis motion commands. While the stage is moving, feedback the
stage position by the visual servo system and calculate the positioning errors, which are horizontal error ex, vertical error ey and
average error ea, by the PC as shown in Eq. (5).
22
yxa eee (5)
(5) Positioning error compensation: If the average error ea is higher than the predefined threshold, the control core will regulate the
speed and position control signals immediately for positioning error reduction.
By the above steps, the high-precision positioning performance can be achieved.
6. Experimental Results
6.1 Software development
In this study, Visual Basic.NET with the Emgu CV library was utilized to develop the software of the XXY positioning system. The
control object of this study is to realize the high-precision contour tracking by using the NURBS interpolation approach. There’s two
ways for changing the contour demand which are change the location of control point and regulate the weight of each control point as
shown in Fig.3. The users could set up the contour via the HMI directly. In addition, the users could monitor the motion of the stage
online.
6.2 The developed HMI
The developed HMI of this study is shown in Fig.5. The function of each block is introduced in the following:
(1) Inputs for the control points’ coordinates and weights: The user can type the coordinates and corresponding weights of the seven
control points arbitrarily. For example, the coordinates and corresponding weights of the control points for a bow contour are
shown in Eq. (8) and Eq. (9), respectively.
(2) Preset contours: The HMI provides five preset contours for the users which are arrow, bow, heart, circle, and tick. The user can
choose one of them for further modification and preview them below. As shown in Fig. 5, a bow contour is chosen and previewed.
(3) Preview of the contour: After clicking the NURBS button, the user can preview the designed contour on this window.
(4) X and Y axes commands of contour: After clicking the NURBS button, this window will show the required displacement
commands of the X and Y axes, respectively. Thereafter, these control commands will be sent for the drivers via the motion control
board.
(5) Function buttons: Reset: Reset the position and angle of the stage; NURBS: Plan the contour using NURBS interpolation approach
and determine the X and Y axes commands of the contour; Draw: Detect the position of the stage by using the camera and draw it
on the HMI; Work: The stage starts to track the contour; Stop: The stage stops moving immediately; Clear: Clean the existent
contour and the user can plan a new contour instead.
(6) Real-time monitoring window: The motion of the stage will be shown on this window so that the user can observe it at the same
time.
(7) Center of positioning stage: The CMOS camera feedback the position of stage. The system deal with it to determine the coordinate
of center.
(8) The status of stage and positioning error: This window shows the status of the stage such as stop and working. Moreover, this
window also shows the positioning errors which include the instantaneous positioning error and average positioning error.
(9) X and Y axes positions: Through the camera, the system turns the coordinate of center into X-axis position and Y-axis position.
(10) Performance measure: The system calculates the positioning error via the Eq. (5) and shows the performance measure on this
window.
5. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
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(1) (2)
(4)
(9)
(10)
(3)
(7)
(6)
(5)
(8)
V
V
V
V
V
V
V
ψ
ψ
ψ
ψ
ψ
ψ
ψ
X
Y
Fig. 5 The developed HMI.
6.3 Trajectory planning
In this study, three two-dimensional reference contours were demonstrated for the visual servo control based XXY positioning
system. The order of the NURBS curve, knot vector, control points and weights of the bow contour are given as follows:
6k (6)
]1,11,,75.0,5.0,5.00.25,,0,0,0[],,,,,,,,,[ 9876543210 ppppppppppP (7)
],,,,,,[ 6543210 VVVVVVVV )]0,0(),2,2(),2,2(),0,0(),2,2(),2,2(),0,0[( (8)
]1,5.2,5.2,1,5.2,5.2,1[],,,,,[ 654,3210 ψ (9)
The order of the NURBS curve, the knot vector, control points and weights of the heart contour are given as follows:
6k (10)
]1,11,,75.0,5.0,5.00.25,,0,0,0[],,,,,,,,,[ 9876543210 ppppppppppP (11)
],,,,,,[ 6543210 VVVVVVVV )]0,0(),2,3(),5,2(),6.3,0(),5,2(),2,3(),0,0[( (12)
]1,1,1,1,1,1,1[],,,,,[ 654,3210 ψ (13)
The order of the NURBS curve, the knot vector, control points and weights of the circle contour are given as follows:
6k (14)
]1,11,,75.0,5.0,5.00.25,,0,0,0[],,,,,,,,,[ 9876543210 ppppppppppP (15)
],,,,,,[ 6543210 VVVVVVVV )]0,0(),2,0(),2,4(),0,4(),2,4(),2,0(),0,0[( (16)
]1,5.0,5.0,1,5.0,5.0,1[],,,,,[ 654,3210 ψ (17)
Byusing the parameters as shown in Eq. (6)-(9), Eq. (10)-(13), and Eq. (14)-(17), the designed bow, heart, and circle contours were
shown in Fig. 6, Fig. 7, and Fig. 8, respectively.
6. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
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(a)
(b) (C)
Fig. 6 Designed bow contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional bow
contour.
(a)
(b) (C)
Fig. 7 Designed heart contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional heart
contour.
(a)
(b) (C)
Fig. 8 Designed circle contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional circle
contour.
6.4 Experimental result
The practical experimental setup of the XXY positioning system is shown in Fig. 9.The positioning responses due to bow, heart,
and circle contours of the XXY positioning system are shown in Fig. 10, Fig. 11, and Fig. 12, respectively. From the experimental
results, the favorable accuracy and validity of visual servo control for the XXY positioning system can be clearly observed. Moreover,
the performance measures of the proposed visual servo control for tracking the bow, heart, and circle contours are shown in Table 1. The
average positioning errors can be controlled within 90µm. Thus, the validities and performances of the proposed trajectoryplanning and
visual servo control for the XXY positioning system using NURBS interpolation approach can be verified obviously.
7. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
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Step Motor
Driver
XXY Positioning Stage
Terminal Board
HMI and NURBS
Interpolation Software
Camera
Fig. 9 Practical experimental setup of the XXY positioning system.
(a) (b)
Fig. 10 Positioning performance due to bow contour. (a) Positioning response, (b) Positioning error.
(a) (b)
Fig. 11 Positioning performance due to heart contour. (a) Positioning response, (b) Positioning error.
(a) (b)
Fig. 12 Positioning performance due to circle contour. (a) Positioning response, (b) Positioning error.
Table 1 Performance measures.
Control Points Complete Time (sec) Average Error (µm)
Bow Shape 334 111.23 89.06
Heart Shape 334 110.76 65.66
Round Shape 334 109.72 59.55
7. Conclusions
In this study, the contours planning and visual servo control technologies for a XXY positioning stage are developed
successfully. According to the developed HMI, the users can control the stage for tracking the two-dimensional contours very easily and
8. Contours Planning and Visual Servo Control of XXY Positioning System Using NURBS Interpolation Approach
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arbitrarily. With the CMOS camera, the proposed compensation control mechanism performs precise positioning performances. The
experimental results due to various contours planning and tracking demonstrated the favorable performances for the XXY positioning
system.
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