Robotics Vision

ICICE53 Robotics Vision 4 L-T-P: 3-1-0 Sensors and Transducers

 Course Objectives (CO):

• To understand machine vision system elements.

• To classify the levels of the robotics vision
• To analyze the uncertainty in the vision system
• To design the calibration methods for the robotics vision
• To integrate the calibration techniques for the various
robotics applications
Motivation
Course Contents

Chapter: 2
Chapter: 1 Chapter: 3
Vision System Robot Low- and
Calibration
high-level vision

Chapter: 4 Chapter: 5
Robotic vision Robotics vision
and control and applications
 Syllabus
UNIT I VISION SYSTEM: Introduction to Computer Vision and Basic Concepts of Image Formation: Introduction and Goals of
Computer Vision Image Formation, Geometric Transformation, Geometric Camera Models, Image Reconstruction
from a Series of Projections, Basic Components, pinhole cameras, color cameras, image formation model, imaging
components and illumination techniques, picture coding, basic relationship between pixels, Camera, Computer
interfaces, Kinect Sensor, Stereo Vision camera.

UNIT II LOW-LEVEL AND HIGHER-LEVEL VISION: Image representation – gray level transformations, Histogram equalization,
image subtraction, image averaging – Filters: smoothing spatial filters, Segmentation: Edge linking and boundary
detection, Thresholding, Region-oriented segmentation, the use of motion – Description: Boundary Descriptors

UNIT III CALIBERATION: Camera Calibration - Stereo Imaging - Transforming sensor reading, Mapping Sonar Data, Aligning
laser scan measurements - Vision and Tracking: Following the road, Iconic image processing, Multiscale image
processing

UNIT IV ROBOTICS, VISION AND CONTROL: Vision-Based Control, Position-Based Visual Servoing, Image-Based Visual
Servoing, Camera and Image Motion, Controlling Feature Motion, Estimating Feature Depth, Performance Issues,
XY/Z-Partitioned IBVS, IBVS Using Polar Coordinates

UNIT V ROBOT VISION: Basic introduction to Robotic operating System (ROS) - installing and testing ROS camera Drivers, ROS
to OpenCV - Introduction to OpenCV image processing library and MATLAB programming, SIFT and SURF techniques
for the image reconstruction.
TEXTBOOKS:
1. K.S.Fu, R.C.Gonzalez, CSG. Lee, ―Robotics control, sensing, vision and Intelligence, McGraw Hill Education
Pvt. Ltd., 2013. 2. Richard D Klafter, Thomas A Chmielewski, Michael Negin, ―Robotics Engineering: An
Integrated Approach‖, PHI Learning, New Delhi, 2009.
2. Corke, P., 2017. Robotics, vision and control: fundamental algorithms in MATLAB® second, completely
revised (Vol. 118). Springer.
REFERENCES:
1. Damian M Lyons,―Cluster Computing for Robotics and Computer Vision‖, World Scientific, Singapore, 2011. 2.
RafelC. Gonzalez, Richard E.Woods, Steven L.Eddins, Digital Image Processing using MATLAB‖,2nd edition, Tata
McGraw Hill, 2010.
3. Carsten Steger, Markus Ulrich, Christian Wiedemann, ―Machine Vision Algorithms and Applications‖, WILEY-VCH,
Weinheim, 2008.
4. Kenneth Dawson-Howe, ―A Practical Introduction to Computer Vision with OpenCV, Wiley, Singapore, 2014.
 • Introduction to Computer Vision and Basic
Concepts of Image Formation: Introduction
and Goals of Computer Vision Image
VISION Formation, Geometric Transformation,
Geometric Camera Models, Image
SYSTEM: Reconstruction from a Series of Projections,
Basic Components, pinhole cameras, color
cameras, image formation model, imaging
components and illumination techniques,
picture coding, the basic relationship between
pixels, Camera, Computer interfaces, Kinect
Sensor, Stereo Vision camera.
Stereolabs ZED Mini Stereo Camera
LOW-LEVEL • Image representation – gray level
transformations, Histogram equalization,
AND HIGHER- image subtraction, image averaging – Filters:
LEVEL VISION: smoothing spatial filters, Segmentation: Edge
linking and boundary detection,
Thresholding, Region-oriented segmentation,
the use of motion – Description: Boundary
Descriptors
 Camera Calibration - Stereo Imaging - Transforming
CALIBERATION: sensor reading, Mapping Sonar Data, Aligning laser
scan measurements - Vision and Tracking: Following
the road, Iconic image processing, Multiscale image
processing
 • Vision-Based Control, Position-Based Visual
Servoing, Image-Based Visual Servoing,
ROBOTICS, Camera and Image Motion, Controlling
VISION AND Feature Motion, Estimating Feature Depth,
Performance Issues, XY/Z-Partitioned IBVS,
CONTROL: IBVS Using Polar Coordinates
 Basic introduction to Robotic operating System
(ROS) - installing and testing ROS camera Drivers,
ROBOT ROS to OpenCV - Introduction to OpenCV image
processing library and MATLAB programming, SIFT
VISION: and SURF techniques for the image reconstruction.
Image formation