Search results for "Machine Vision"
showing 6 items of 76 documents
Systèmes imageurs 3D pour des applications agricoles : caractérisation de cultures et phénotypage de racines
2016
The development of the concepts of precision agriculture and viticulture since the last three decades has shown the need to use first 2D image acquisition techniques and dedicated image processing. More and more needs concern now 3D images and information. The main ideas of this chapter is thus to present some innovations of the 3D tools and methods in the agronomic domain. This chapter will particularly focus on two main subjects such as the 3D characterization of crop using Shape from Focus or Structure from Motion techniques and the 3D use for root phenotyping using rhizotron system. Results presented show that 3D information allows to better characterize crucial crop morphometric parame…
Robotics for weed control: I-Weed Robot for a specific spraying
2012
International audience; To preserve environment for a sustainable agriculture, we explore the development of a new autonomous robot, called I-Weed Robot (Intelligent Weed Robot), which aims at reducing herbicides in crop fields (maize, sunflower...). Using a high precision positioning signal (RTK) to locate the robot in the field, a Kaman filter and a proportional-integral-derivative controller (PID controller) allow adjusting the orientation of the robot depending on a predefined trajectory. As for the spraying system, a camera in front of the mobile platform detects weed plants thanks to an image processing based on a crop/weed discrimination algorithm (Hough Transform). At the back a spr…
Randomized Hough Transform for Ellipse Detection with Result Clustering
2005
Our research is focused on the development of robust machine vision algorithms for pattern recognition. We want to provide robotic systems the ability to understand more on the external real world. In this paper, we describe a method for detecting ellipses in real world images using the randomized Hough transform with result clustering. A preprocessing phase is used in which real world images are transformed - noise reduction, greyscale transform, edge detection and final binarization - in order to be processed by the actual ellipse detector. The ellipse detector filters out false ellipses that may interfere with the final results. Due to the fact that usually more "virtual" ellipses are de…
Content based segmentation of patterned wafers
2004
We extend our previous work on the image segmentation of electronic structures on patterned wafers to improve the defect detection process on optical inspection tools. Die-to-die wafer in- spection is based on the comparison of the same area on two neigh- boring dies. The dissimilarities between the images are a result of defects in this area of one of the dies. The noise level can vary from one structure to the other, within the same image. Therefore, seg- mentation is required to create a mask and apply an optimal thresh- old in each region. Contrast variation on the texture can affect the response of the parameters used for the segmentation. We show a method to anticipate these variation…
Integration of multiple range and intensity image pairs using a volumetric method to create textured three-dimensional models
2001
We present a volumetric approach to three-dimensional (3D) object modeling that differs from previous techniques in that both object texture and geometry are considered in the reconstruc- tion process. The motivation for the research is the simulation of a thermal tire inspection station. Integrating 3D geometry information with two-dimensional thermal images permits the thermal informa- tion to be displayed as a texture map on the tire structure, enhanc- ing analysis capabilities. Additionally, constructing the tire geometry during the inspection process allows the tire to be examined for structural defects that might be missed if the thermal data were textured onto a predefined model. Exp…
A Cognitive Architecture for Robotic Hand Posture Learning
2005
This paper deals with the design and implementation of a visual control of a robotic system composed of a dexterous hand and video camera. The aim of the proposed system is to reproduce the movements of a human hand in order to learn complex manipulation tasks or to interact with the user. A novel algorithm for robust and fast fingertips localization and tracking is presented. A suitable kinematic hand model is adopted to achieve a fast and acceptable solution to an inverse kinematics problem. The system is part of a cognitive architecture for posture learning that integrates the perceptions by a high-level representation of the scene and of the observed actions. The anthropomorphic robotic…