Verification Vision for Programmable Assembly
Verification Vision for Programmable Assembly
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可编程装配的验证愿景
DOI：
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发表时间：
1977
期刊：
影响因子：
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通讯作者：
R. Bolles
中科院分区：
文献类型：
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作者：
R. Bolles
本文是作者论文[Bolles 1976]的浓缩版，该论文研究了视觉信息处理的一个子类，称为验证视觉（简称VV）。VV使用场景模型来定位场景图片中感兴趣的对象。将VV与其他类型的视觉信息处理区分出来的特征是：(1)系统对形成场景的物体的类型、位置和外观有大量的先验知识；(2)目标是验证和细化场景中一个或多个物体的位置。VV包括可编程汇编中所需的视觉反馈任务的重要部分。例如，定位螺钉孔和确定螺钉与螺钉孔之间的相对位移都是VV任务。本文讨论了两种类型的VV任务：检查和定位。本文只讨论定位任务，但本质上这两种类型的任务都需要相同的功能。
This paper is a condensed version of the author's thesis [Bolles 1976], which investigates 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 and the screw hole are both VV tasks. Two types of VV tasks are discussed in the thesis: inspection and location. This paper only discusses location tasks, but essentially the same capabilities are required for both types of tasks.
This paper describes (1) a structure for a VV system that makes it easier for programmers who are not experts in computer vision to program VV feedback, and (2) a set of combination rules that are capable of using the results of several different types of operators to estimate the confidences and precisions that are necessary within VV.
An interactive VV system based upon these ideas has been implemented. It helps the programmer select potentially useful operator/feature pairs, provides a training session to gather statistics on the behavior of the operators, automatically ranks the operator/feature pairs according to their expected contributions, and performs the desired task. The VV system has also been interfaced to the AL control system for the mechanical arms and has been tested on tasks that involve a combination of touch, force, and visual feedback.