机器人视觉 12-Robot Vison-4-Vision Systems

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1、112RobotVision-4-VisionSystems2012/9/14ROBOTVISIONHuang-NanHuang2012/9/142012/9/142012FallOutline4.1HumanVisualApparatus32012/9/1442012/9/141thevisualcortex2thelateralgeniculate(彎曲狀)bodies
HumanVisualApparatus5theiris
ModelforTechnicalVisionSystems3thevisualnerve
CameraTypes4theretina6thecurvatur

2、eofthelens•Photosensitivecellsontheretina:Conesareresponsibleforthedeterminationofthegrayvaluesandthreetypesofrodsfortherecognitionofthecolorsred,greenandblue(RGB).Theconeshaveahigherphotosensitivitythantherods.•Thecolorsignalsoftherodsarecompoundedafterbeinggeneratingandthentransmittedbythevisua

3、lnerve(3)andthelateralgeniculatebodies(2)tothevisualcortex(1).Thelateralgeniculatebodiesareresponsibleforstereovision.•ThesignalsarestoredinLuv-channels.TheL-channelinvolvesinformationonthebrightnessandtheuv-channelsonthecolors.4.2TheHumanVisualApparatusasLayersforVisualCortex(腦皮質）ModelforTechnic

4、alVisionSystems52012/9/1462012/9/14
TheobjectiveisresponsibleforfocusingandcanbecomparedwiththelensandtheCCD1)arrayisorientedattheretinaAttentionControlAttentionControl72012/9/1482012/9/14
Theadvantageofthehumanvisualapparatusisthat
Krotkov[57]combinesastereovisionsystemandafocusingthevisualsearc

5、horobjectdetectionfindsinstancesfromapproachandusesthevisualattentioncontroltoobtainaobjectsbyoftenusingattributeslikethecolor.partialreconstruction.
Inthefirststepthestereovisionsystemisusedtogeneratearathercoarsereconstruction.Pointsinthescenearedetermined
Ananalogousapproach:Theentiresceneisan

6、alyzedbytheuseofthecoarsereconstruction,whicharethenusedforabyoperatorstodetectstoredobjectmodelsinmoreprecisereconstructionwiththefocusingapproach.knowledgebase.Ifthescenepossessesobjectsthat
ThesystemfromAbbottandAhuja[58]developsglobaldepthhavearesemblancetotheobjectmodels,butbythemapsbystepwi

7、seexpansiontorepresentthescenesuccessivelymorecompletely.Ifadepthmapisgenerated,thebordersoftheresolutionofthewholescenetheequalitycannotmapareexaminedtoobtaintheexpansionoftheglobaldepthunequivocallyprovethatitisperfo