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3 AUTHORS, INCLUDING:
R. Solea
Universitatea Dunarea de Jos Galati
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I. INTRODUCTION
The influence and impact of digital images on modern society, science, technology and art are huge. Image processing
has become such a critical component in contemporary science and technology that many tasks would not be attempted
without it. It is a truly interdisciplinary subject and is used
in computer vision, robotics, medical imaging, microscopy,
astronomy, geology and many other fields [1] - [5].
One of the core technologies of the intelligent robot was,
of course, vision, and this vision research area was called
computer vision, which is now regarded as a fundamental
and scientific approach to investigate how artificial vision
can be best achieved and what principles underlie it [6].
OpenCV (Open Source Computer Vision) is a library
of programming functions for real time computer vision.
OpenCV is free for both academic and commercial use. It
has C++, C, Python and soon Java interfaces running on
Windows, Linux, Android and Mac. The library has more
then 2500 optimized algorithms [7].
OpenCV played a role in the growth of computer vision
by enabling thousands of people to do more productive work
in vision. With its focus on real-time vision, OpenCV helps
students and professionals efficiently implement projects.
The contribution of this paper is to report new practical
applications for student laboratory that provide the hands-on
experience that is critical for robotics education. These types
of exercises supply the student with hands-on experience that
complements classroom lectures and software development.
Through this experience, the student confronts the hard
realities of robot systems; realities such as sensor noise,
1 M. Dragusu and A.N. Mihalache are students at the Faculty of Automatic Control, Computers, Electric and Electronic Engineering, Dunarea de
Jos University of Galati, Romania dragusumihai@yahoo.com,
mihalache anca@ymail.com
2 R. Solea is with the Faculty of Automatic Control, Computers, Electric
and Electronic Engineering, Dunarea de Jos University of Galati, Romania
razvan.solea@ugal.ro
Fig. 1.
Fig. 2.
Fig. 3.
adr_ord[linie][0]=adr1[i][0];
adr_ord[linie][1]=adr1[i][1];
}
}
adr1[poz_adr][0]=-1;
adr1[poz_adr][1]=-1;
pixel_curent[0]=adr_ord[linie][0];
pixel_curent[1]=adr_ord[linie][1];
linie++;
...
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.
drawn
Capture of the image to be Fig. 8. The result of Canny algorithm on the captured image
Fig. 9.
Fig. 10.
Fig. 11.
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command
desired
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step time
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Fig. 12.
Fig. 13.
Captured image
(1)
Fig. 14.
Canny result
Fig. 15.
Fig. 16.
object, and to grab the object with the robotic arm; iii) Return
to the initial position.
All three states are communicated (in form of Cartesian
coordinates) to the mobile platform using ARIA (Advanced
Robot Interface for Applications) software. The main application will write the desired position for the platform and
the control application of the platform will read the file and
command the robot to go to that position. ARIA software
can be used to control the mobile robots like Pionner,
PatrolBot, PeopleBot, Seekur etc. ARIA it is an objectoriented Applications Programming Interface (API), written
in C++ and intended for the creation of intelligent high-level
client-side software. ARIA provides tools to integrate I/O and
includes comprehensive support for all MobileRobots robot
accessories, including the laserrange finders, control of the
pan-tilt-zoom camera or pantilt unit, Pioneer Gripper and
Arm, and more.
V. CONCLUSIONS
In this paper it was presented practical laboratory applications in robotic manpulation, computer vision, and mechatronics. This applications provide the hands-on experience
that is essential for robotics education.
The integration of real-world problems with complex imagery can improve image-processing applications. Effective
applications-based exercises should be closely aligned with
lecture concepts and should be assigned with little time
delay. An OpenCV environment allows a focus on the
imaging concepts and techniques with minimal programming
difficulty.
Both applications, the object detection and the contour
coordinates extraction methods are implemented using a
series of image processing techniques like border extraction,
contour detection, contour extraction, along with match template and the aid of OpenCV library.
In future work, motivated by this work, we consider the
situation when mobile manipulators are sorting objects and
placed the objects in a known location.
Fig. 17.
Fig. 18.
R EFERENCES
[1] C. Theis, I. Iossifidis and A. Steinhage, Image Processing Methods
for Interactive Robot Control, Proceedings 10th IEEE International
Workshop on Robot and Human Interactive Communication, 2001,
pp. 424-429.
[2] G. Dougherty, Digital Image Processing for Medical Applications,
Cambridge University Press, 2009.
[3] M. Pesenson, W. Roby and B. McCollum, Multiscale Astronomical
Image Processing Based on Nonlinear Partial Differential Equations,
The Astrophysical Journal, 683 (1), 2008, pp. 566-576.
[4] S. A. Drury, Image Interpretation In Geology, Nelson Thornes, UK,
2001.
[5] Yu-fai Fung, H. Lee, and M. F. Ercan, Image Processing Application
in Toll Collection, IAENG International Journal of Computer Science,
32(4), 2006, 6 pages.
[6] M. Ejiri, T. Miyatake, H. Sako, A. Nagasaka and S. Nagaya, Evolution of Real-time Image Processing in Practical Applications, IAPR
Workshop on Machine Vision Applications, Japan, 2000, pp. 177-186.
[7] G. Bradski and A. Kaehler Learning OpenCV (Book style), OReilly
Media, Inc., USA, 2008.
[8] Robai, CYTON V2 7DOF - Operating Manual, USA, 2010, 36 pages.
[9] Energid Technologies, Energid ActinSE Documentation,
http: //www.robai.com/content/docs/ActinSE docs/.
[10] R. C. Gonzalez and R. E. Woods, Digital Image Processing, 3rd
Edition, Prentice Hall, 2008.
[11] W. K. Pratt, Digital Image Processing: PIKS Inside, 3rd Edition, John
Wiley & Sons, Inc., 2001.