CNC & Robotics
Presentation on Image Processing
PRESENTATION ON IMAGE
PROCESSING
06/11/2020
Praveen Ram K
Pravesh A R
17M912
17M913
Prethev R
Sriram B
17M914
17M915
Visahan R
17M916
Visweshwara K
Elumalai P
17M917
17M918
15M701
BE MECH (SW) - 9 SEM
1
Department of Mechanical 1
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
CONTENTS
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Machine Vision
Key components
Functions
What can Machine Vision do for Robotics?
Vision Sensors
Image Processing
Object identification.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
2
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
MACHINE VISION
● Vision for robots requires the ability to identify and
accurately determine the positions of all relevant three
dimensional objects within the robot work place.
● Machine vision may be defined as the process of extracting,
characterizing, and interpreting information from images
of a three dimensional world
06/11/2020
15M701
BE MECH (SW) - 9 SEM
3
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
KEY COMPONENTS
06/11/2020
15M701
BE MECH (SW) - 9 SEM
4
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
FUNCTIONS
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Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
OVERVIEW
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Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
PURPOSE OF A MACHINE VISION SYSTEM
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The main purpose of the machine
vision system is to provide input to
the system and obtain output from
the system.
The arrived output is analysed and
converted into standard format.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
7
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
MACHINE VISION-FUNDAMENTAL TASKS
● Image transformation
● Image analysis
● Image understanding
Fig.2 Block diagram
06/11/2020
15M701
BE MECH (SW) - 9 SEM
8
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
GENERAL PURPOSE MACHINE VISION
● System should capture the relevant data and with the motion of the object it should be
able to update the information.
● Four steps to General Purpose Robot Vision
● Object verification and tracking
● Fast extraction of stable image features
● Object model acquisition
● Efficient indexing of the model database
06/11/2020
15M701
BE MECH (SW) - 9 SEM
9
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
WHAT CAN MACHINE VISION DO FOR
ROBOTICS?
● Accurate Robot-Object Positioning
● Keeping Relative Position under
Movement
● Visualization / Teaching / Tele robotics
● Performing measurements
● Object Recognition
● Registration
Fig.4 robot arm
06/11/2020
15M701
BE MECH (SW) - 9 SEM
10
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
VISION SENSORS
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Single Perspective Camera
Multiple Perspective Cameras (e.g.
Stereo Camera Pair)
● Laser Scanner
● Omnidirectional Camera
● Structured Light Sensor
Fig.5 Vision sensors
06/11/2020
15M701
BE MECH (SW) - 9 SEM
11
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
SINGLE PERSPECTIVE CAMERA
● Single perspective camera in
robotics are used in places where
only a single camera is used.
● It has a fixed field of vision and the
main application of the camera
would be object identification.
● The accuracy of the details is low in
these kind of camera setup in
robots.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
12
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
MULTI PERSPECTIVE CAMERA
● Multi perspective camera systems are
deployed in places where the accuracy of the
details obtained from the visual is to be high.
● In several cases more than one camera is
employed for achieving a wider field of vision.
● Addition of cameras improves the depth and
location accuracy of the object in the field of
view as different perspective angles are
obtained.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
13
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
LASER SCANNER
● Range measurements are based on the TOF
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principle, in which a pulse of light is emitted by
the laser scanner, and the time taken for it to be
returned is recorded.
Using the known constant speed of light, the
range to the target can be calculated.
A rotating polygon with reflective surface is
used for creating 3D images.
Horizontal frame scans are then obtained by
rotating the optical head.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
14
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
LASER SCANNER
06/11/2020
15M701
BE MECH (SW) - 9 SEM
14
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
OMNIDIRECTIONAL CAMERA
● Omnidirectional cameras are frequently used
for visual odometry .Due to its ability to capture a
360-degree view, better results can be obtained
for optical flow and feature selection and
matching.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
16
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
OMNIDIRECTIONAL CAMERA
● In robotics and computer vision, visual odometry is the
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process of determining the position and orientation of a
robot by analyzing the associated camera images.
It has been used in a wide variety of robotic applications,
such as on the Mars Exploration Rovers.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
17
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
IMAGE PROCESSING
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Image data reduction
Segmentation
Feature extraction
Object recognition
06/11/2020
15M701
BE MECH (SW) - 9 SEM
18
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
Image data reduction
● This method is used to reduce the volume of data by two methods
1.Digital conversion
2.Windowing
Digital conversion:
● This method of volume reduction is done by reducing the no of grey levels
used by machine vision system.
Windowing:
● This method uses only a portion of image stored in frame buffer for image
processing and analysis. Contrast ratios are reduced to limited pixels to save
space.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
19
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
IMAGE SEGMENTATION
● Division of image into multiple segments. In this process a label is assigned to
every pixel in an image such that the pixel with same label share certain
characteristics. Techniques of segmentation include
1.Thresholding
2.Region growing
3.Edge detection
4.Feature extraction
06/11/2020
15M701
BE MECH (SW) - 9 SEM
20
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
IMAGE SEGMENTATION
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Thresholding is a binary conversion technique in which pixels are converted into binary level such as
black and white.
Region segmentation is done by grouping the pixels into regions called grid elements based on
attributes.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
21
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
IMAGE SEGMENTATION
● Edge detection considers the change in intensity that occurs in the pixels as the
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boundary or edges of a part. It separates the part from the background.
Feature extraction is
single parameter where the features of parts such as
area,diameter,perimeter,ridge detection etc. are identified and obtained from the image.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
Department of Mechanical 22
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
OBJECT RECOGNITION
● The task of finding and identifying objects in an image or video sequence.
Pattern recognition:
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Pattern recognition focuses on recognition of patterns and irregularities in
data.
● It is done by two methods
1.Template matching
2.Weighing feature.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
23
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
TEMPLATE MATCHING
● It is used to for finding small parts of an image which match a template image
● It can be used in manufacturing as a part of quality control a way to navigate
a mobile robot, or as a way to detect edges in images
● The features of the object that can be used in template pattern are area ,
diameter ,aspect ratio.
06/11/2020
15M701
BE MECH (SW) - 9 SEM
24
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
Presentation on Image Processing
FEATURE WEIGHTING
● Several features like area, length and perimeter are combined into single
measures by assigning a weight to each feature according to the relative
importance in identifying the object
● The score of the object in the image is compared with the score of the
computer memory to achieve proper identification
06/11/2020
15M701
BE MECH (SW) - 9 SEM
25
Department of Mechanical
Engineering - PSG CT
CNC & Robotics
06/11/2020
Presentation on Image Processing
15M701
BE MECH (SW) - 9 SEM
26
Department of Mechanical
Engineering - PSG CT