ROBOTICS Sensors perception VISION TEMPUS IV Project 158644

ROBOTICS Sensors – perception - VISION TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Perception - Vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 2

Vision in General TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 3

Origins of computer vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 4

Connections to other disciplines TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 5

Applications of computer vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 6

Applications of computer vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 7

Applications of computer vision l For more information on the computer vision industry: http: //www. cs. ubc. ca/spider/lowe/vision. html TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 8

The Camera TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 9

How do we see the world? TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 10

Pinhole camera TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 11

Camera Obscura TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 12

Pinhole camera model TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 13

Home-made pinhole camera TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 14

Shrinking the aperture TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 15

Shrinking the aperture TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 16

Solution: Adding a lens TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 17

Adding a lens TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 18

Adding a lens TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 19

Thin lenses TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 20

Pin-hole Approximation TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 21

Pin-hole Model TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 22

Stereo Vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 23

Stereo Vision - The semplified case TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 24

Disparity in the human retina TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 25

Stereo Vision: how to improve accuracy? TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 26

Stereo Vision – the general case TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 27

Stereo Vision: Correspondence Problem TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 28

Correspondence Problem: Epipolar Constraint TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 29

Correspondence Problem: Epipolar Constraint TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 30

Epipolar Rectification TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 31

Stereo Vision - summary TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 32

Sensor Fusion: IMU, Odometry and Visual Motion Estimation (VME) Based on Stereo Vision TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 33

Motion Detection via Optical Flow TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 34

Optical Flow TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 35

Color Tracking Sensors TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 36

Literature: "Introduction to Autonomous Mobile Robots" – Roland Siegwart and Illah R. Nourbakhsh TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 37