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INTRODUCTION
MACHINE VISION : Acquisition of image data, followed by the processing and
interpretation of these data by computer for some useful application like
USES OF counting
ROBOT etc.
VISION
inspection,
Vision based guidance of a robot arm
Inspection for close dimensional tolerance.
Improved object recognition
Improved part location capabilities
ROBOT VISION REQUIREMENTS
Cheaper computational device
Increased speed
Better algorithms
INTRODUCTION
1) Captures images
MACHINE VISION
What is an image??
An image is a reflection of a 3-D world on a 2-D plane
An image is captured at a given instant of time.
Therefore 1 image or many images at regular intervals of time can be taken
3-D system
The video signal is divided into white (1) or black(0) signals based on the
Grey scale
system
threshold
level
Machine Vision
Stored
programs/
algorithms
Camera
A/D
Auxiliary
storage
Frame
Grabber
Computer
(processor)
Lighting
I/F
Robot
controller
(TASK)
Monitor
Hardware
1. Image acquisition &
digitizing image data
Function
-
Signal Conversion
- Sampling
Keyboard
Data reduction
b) Segmentation
- Encoding
Techniques
- Quantization
- Image storage
- Lighting
c)
Feature extraction
d) Object recognition
3. Applications
- Inspection
- Material handling
- Safety monitoring
3) Side lighting
4) Structured lighting
Produces a reflected light from the object that allows inspection of surface feature
Camera
Light source
Light
field
Dark
field
Object
This creates a dark silhouette of the object that contrasts sharply with the light back
Object shadow
Object
Diffuser
Light source
Camera
Light source
Object
TOP VIEW-PATTERN
WITH OBJECT
When the object is in the vicinity of the light, a different pattern is formed.
This pattern is studied to extract information about the object.
2)Quantization
3) Encoding
1. Sampling
A process in which the analog signal obtained by scanning a single line is
sampled at regular intervals to obtain a discrete time analog signals.
Voltage
Voltage
Sampled Points
Time
Time
.
Hence, number of pixels per line =
= 651 pixels/line
Thus, the sampling rate determines the number of pixels horizontally and no
of scanning lines determine the no of pixels vertically
system
The number of quantization level is dependent on the bit storage capacity of the A-D c
No of quantization levels = 2
VOLTAGE
RANGE
BINARY
NUMBER
GREY SCALE
0 - 0.0195
0000 0000
0.0195 - 0.0390
0000 0001
0.0390 - 0.0585
0000 0010
4.9610 - 4.9805
1111 1110
254
4.9805 - 5
1111 1111
255
ENCODING
QUANTIZATION
Thresholding
Segmentation
Region growing
Feature extraction
Edge detection
Object recognition
Digital conversion: Process of reducing the number of grey levels used by the
machine vision system
Example: For an image digitized at 128 points per lines and 128 lines, determine
(i) The total number of bits to represent the grey level values required if an 8 bit
converter is used to indicate various shades of gray and
(ii) The reduction in data volume if only black and white values are digitized.
Windowing: Only a portion of the total image is used for image processing and
analysis.
Thresholding
Procedure:
A pixel on the object is identified and assigned the value 1.
The adjacent pixel is tracked for match in the attributes.
Original image
Simplified image
Note that the procedure did not identify the hole. This can be resolved by
decreasing the distance between grid points
the object.
The score of the object in the image is compared with the score of an ideal
3. Applications
Inspection
poorly located label or poorly printed text numbering or graphics on the label.
3. Applications
Visual guidance and control
Involves applications in which a vision system is teamed with a robot or similar
machine to control the movement of the machine.
Examples of these applications include seam tracking in continuous arc
welding, part positioning and/or reorientation, bin picking, collision avoidance,
machining operations, and assembly tasks.
Part identification
The applications are those in which the vision system is used to recognize and
perhaps distinguish parts or other objects so that some action can be taken.
The applications include part sorting, counting different types of parts flowing
past along a conveyor, and inventory monitoring. Reading of 2-D bar codes
and character recognition.