Verification vision within a programmable assembly system: an introductory discussion

Résumé du livre

The research reported in this thesis concentrates on a subclass of visual information processing referred to as verification vision (abbreviated VV). VV uses a model of a scene to locate objects of interest in a picture of the scene. The characteristics that distinguish VV from the other types of visual information processing are: (1) the system has a great deal of prior knowledge about the type, placement, and appearance of the objects that form the scene and (2) the goal is to verify and refine the location of one or more objects in the scene. VV includes a significant portion of the visual feedback tasks required within programmable assembly. For example, locating a screw hole and determining the relative displacement between a screw hole are both VV tasks. There are several types of information available in VV tasks that can facilitiate the solution of such tasks: a model of each object in the scene, a set of initial constraints on the locations of the objects, and a set of previous pictures of this scene or similar scenes. Additional information can be obtained by applying visual operators to a current picture of the scene.