RealTime Image Processing for ImageBased Visual Servoing

2009 ◽  
Keyword(s):  
Image Processing ◽  
Visual Servoing

Marker-guided auto-landing on a moving platform

2017 ◽  
Vol 5 (1) ◽  
pp. 28-42 ◽  
Author(s):  
Iryna Borshchova ◽  
Siu O’Young
Keyword(s):  
Image Processing ◽  
Visual Servoing ◽  
Low Cost ◽  
Field Tests ◽  
Processing Algorithm ◽  
Prototype System ◽  
Image Processing Algorithm ◽  
Suggested Approach ◽  
Content Type ◽  
Moving Platform

Purpose The purpose of this paper is to develop a method for a vision-based automatic landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving platform. The landing system must be highly accurate and meet the size, weigh, and power restrictions of a small UAV. Design/methodology/approach The vision-based landing system consists of a pattern of red markers placed on a moving target, an image processing algorithm for pattern detection, and a servo-control for tracking. The suggested approach uses a color-based object detection and image-based visual servoing. Findings The developed prototype system has demonstrated the capability of landing within 25 cm of the desired point of touchdown. This auto-landing system is small (100×100 mm), light-weight (100 g), and consumes little power (under 2 W). Originality/value The novelty and the main contribution of the suggested approach are a creative combination of work in two fields: image processing and controls as applied to the UAV landing. The developed image processing algorithm has low complexity as compared to other known methods, which allows its implementation on general-purpose low-cost hardware. The theoretical design has been verified systematically via simulations and then outdoors field tests.

scholarly journals Autonomous Visual Servoing for Alternately Working Arm Robots

2021 ◽  
Author(s):  
Tresna Dewi ◽  
Rusdianasari Rusdianasari ◽  
RD Kusumanto ◽  
Siproni Siproni ◽  
Fradina Septiarini ◽  
...  
Keyword(s):  
Image Processing ◽  
Fuzzy Logic ◽  
Industry 4.0 ◽  
Visual Servoing ◽  
Fuzzy Logic Controller ◽  
Human Life ◽  
Experimental Results ◽  
Agricultural Products ◽  
Pick And Place ◽  
Time Required

Robots have infiltrated many aspects of human life up to this point, and with the term Industry 4.0, robots have even become the primary workforce in various factories. This condition necessitates that the robots collaborate without clashing. This paper discusses the application of two arm robot manipulators working alternately in sorting agricultural products. The proposed method employs simple image processing to detect the object and becomes the input to the system to control the robots. The effectiveness of the proposed method is enhanced by the application of a Fuzzy Logic Controller to smoothen robots’ joints motions. The average time required by the robot to finish their task from detecting to returning to standby position is 11.76 s for green tomatoes and 12.86 s for red tomatoes. The experimental results show that the proposed method is effective in controlling two robots to pick and place agricultural products using visual servoing.

scholarly journals RGB-D Image Processing Algorithm for Target Recognition and Pose Estimation of Visual Servo System

Sensors ◽  
2020 ◽  
Vol 20 (2) ◽  
pp. 430 ◽  
Author(s):  
Shipeng Li ◽  
Di Li ◽  
Chunhua Zhang ◽  
Jiafu Wan ◽  
Mingyou Xie
Keyword(s):  
Image Processing ◽  
Real Time ◽  
Pose Estimation ◽  
Visual Servoing ◽  
Rapid Identification ◽  
Processing Algorithm ◽  
Depth Information ◽  
Target Image ◽  
Image Processing Algorithm ◽  
Depth Direction

This paper studies the control performance of visual servoing system under the planar camera and RGB-D cameras, the contribution of this paper is through rapid identification of target RGB-D images and precise measurement of depth direction to strengthen the performance indicators of visual servoing system such as real time and accuracy, etc. Firstly, color images acquired by the RGB-D camera are segmented based on optimized normalized cuts. Next, the gray scale is restored according to the histogram feature of the target image. Then, the obtained 2D graphics depth information and the enhanced gray image information are distort merged to complete the target pose estimation based on the Hausdorff distance, and the current image pose is matched with the target image pose. The end angle and the speed of the robot are calculated to complete a control cycle and the process is iterated until the servo task is completed. Finally, the performance index of this control system based on proposed algorithm is tested about accuracy, real-time under position-based visual servoing system. The results demonstrate and validate that the RGB-D image processing algorithm proposed in this paper has the performance in the above aspects of the visual servoing system.

Some comments about observations and image processing of comet 29P/Schwassmann-Wachmann 1

1999 ◽  
Vol 173 ◽  
pp. 243-248
Author(s):  
D. Kubáček ◽  
A. Galád ◽  
A. Pravda
Keyword(s):  
Image Processing ◽  
Large Scale ◽  
Harvard College ◽  
Oak Ridge ◽  
Large Scale Structures ◽  
Short Period Comet ◽  
Short Period ◽  
Scale Structures ◽  
Harvard College Observatory ◽  
Period Comet

AbstractUnusual short-period comet 29P/Schwassmann-Wachmann 1 inspired many observers to explain its unpredictable outbursts. In this paper large scale structures and features from the inner part of the coma in time periods around outbursts are studied. CCD images were taken at Whipple Observatory, Mt. Hopkins, in 1989 and at Astronomical Observatory, Modra, from 1995 to 1998. Photographic plates of the comet were taken at Harvard College Observatory, Oak Ridge, from 1974 to 1982. The latter were digitized at first to apply the same techniques of image processing for optimizing the visibility of features in the coma during outbursts. Outbursts and coma structures show various shapes.

Analysis of the 9th November 1990 flare

2000 ◽  
Vol 179 ◽  
pp. 229-232
Author(s):  
Anita Joshi ◽  
Wahab Uddin
Keyword(s):  
Image Processing ◽  
Two Dimensional ◽  
Temporal Behaviour ◽  
Contour Maps ◽  
Dimensional Measurements ◽  
Processing Software ◽  
Image Processing Software

AbstractIn this paper we present complete two-dimensional measurements of the observed brightness of the 9th November 1990Hαflare, using a PDS microdensitometer scanner and image processing software MIDAS. The resulting isophotal contour maps, were used to describe morphological-cum-temporal behaviour of the flare and also the kernels of the flare. Correlation of theHαflare with SXR and MW radiations were also studied.

The 'well-known' theory of electron image formation

1983 ◽  
Vol 41 ◽  
pp. 288-289
Author(s):  
M.A. O'Keefe ◽  
W.O. Saxton
Keyword(s):  
Image Processing ◽  
Image Formation ◽  
Source Profiles ◽  
Electron Image

A recent paper by Kirkland on nonlinear electron image processing, referring to a relatively new textbook, highlights the persistence in the literature of calculations based on incomplete and/or incorrect models of electron imageing, notwithstanding the various papers which have recently pointed out the correct forms of the appropriate equations. Since at least part of the problem can be traced to underlying assumptions about the illumination coherence conditions, we attempt to clarify both the assumptions and the corresponding equations in this paper, illustrating the effects of an incorrect theory by means of images calculated in different ways.The first point to be made clear concerning the illumination coherence conditions is that (except for very thin specimens) it is insufficient simply to know the source profiles present, i.e. the ranges of different directions and energies (focus levels) present in the source; we must also know in general whether the various illumination components are coherent or incoherent with respect to one another.

Recent Applications of High Resolution Electron Microscopy to Crystalline Arrays of Virus Particles

1978 ◽  
Vol 36 (3) ◽  
pp. 470-482 ◽  
Author(s):  
R.W. Horne
Keyword(s):  
Electron Microscopy ◽  
Image Processing ◽  
Analytical Techniques ◽  
Staining Technique ◽  
High Resolution Electron Microscopy ◽  
Optical Diffraction ◽  
Full Potential ◽  
Virus Particles ◽  
Resolution Electron ◽  
Wide Range

The technique of surrounding virus particles with a neutralised electron dense stain was described at the Fourth International Congress on Electron Microscopy, Berlin 1958 (see Home & Brenner, 1960, p. 625). For many years the negative staining technique in one form or another, has been applied to a wide range of biological materials. However, the full potential of the method has only recently been explored following the development and applications of optical diffraction and computer image analytical techniques to electron micrographs (cf. De Hosier & Klug, 1968; Markham 1968; Crowther et al., 1970; Home & Markham, 1973; Klug & Berger, 1974; Crowther & Klug, 1975). These image processing procedures have allowed a more precise and quantitative approach to be made concerning the interpretation, measurement and reconstruction of repeating features in certain biological systems.

Sign in / Sign up

Export Citation Format

Share Document