可调液力变矩器辅助调速电动铲运机性能匹配电算

介绍电动铲运机采用异步电动机与可调液力变矩器匹配的方案,通过加大速度可调范围,提高铲运机的动力性能和经济性能。     

Self-calibration of stationary non-rotating zooming cameras

This paper proposes a new method for self-calibrating a set of stationary non-rotating zooming cameras. This is a realistic configuration, usually encountered in surveillance systems, in which each zooming camera is physically attached to a static structure (wall, ceiling, robot, or tripod). In particular, a linear, yet effective method to recover the affine structure of the observed scene from two or more such stationary zooming cameras is presented. The proposed method solely relies on point correspondences across images and no knowledge about the scene is required. Our method exploits the mostly translational displacement of the so-called principal plane of each zooming camera to estimate the location of the plane at infinity. The principal plane of a camera, at any given setting of its zoom, is encoded in its corresponding perspective projection matrix from which it can be easily extracted. As a displacement of the principal plane of a camera under the effect of zooming allows the identification of a pair of parallel planes, each zooming camera can be used to locate a line on the plane at infinity. Hence, two or more such zooming cameras in general positions allow the obtainment of an estimate of the plane at infinity making it possible, under the assumption of zero-skew and/or known aspect ratio, to linearly calculate the camera's parameters. Finally, the parameters of the camera and the coordinates of the plane at infinity are refined through a nonlinear least-squares optimization procedure. The results of our extensive experiments using both simulated and real data are also reported in this paper.     

Spherical approximation for multiple cameras in motion estimation: Its applicability and advantages

Estimating motions of a multi-camera system which may not have overlapping fields of view is generally complex and computationally expensive because of the non-zero offset between each camera’s center. It is conceivable that if we can assume that multiple cameras share a single optical center, and thus can be modeled as a spherical imaging system, motion estimation and calibration of this system would become simpler and more efficient.     

Simultaneous kinematic calibration,localization, and mapping (SKCLAM) for industrial robot manipulators†

Recently, the demand for more accurate, productive, and economical robot manipulators is increasing in the robotics industry. However, a manipulator will produce kinematic errors during production. Thus low-cost kinematic calibration is demanded. Moreover, environmental mapping is also demanded to plan the motions of the manipulator. In this paper, we proposed a simultaneous kinematic calibration, localization, and mapping (SKCLAM) method, which can simultaneously calibrate the kinematic parameters of an industrial robot manipulator using a commercial RGB-D camera attached to its end effector to reconstruct its surroundings. In our method, the kinematic calibration is achieved with feature detection and epipolor geometry. Synthetic and real data experiments were conducted to verify the SKCLAM method. We succeeded in reducing the kinematic errors of the manipulator and reconstructing dense 3D maps of the workspace in the experiments.     

Automatic camera control in virtual environments augmented using multiple sparse videos

Automated virtual camera control has been widely used in animation and interactive virtual environments. We have developed a multiple sparse camera based free view video system prototype that allows users to control the position and orientation of a virtual camera, enabling the observation of a real scene in three dimensions (3D) from any desired viewpoint. Automatic camera control can be activated to follow selected objects by the user. Our method combines a simple geometric model of the scene composed of planes (virtual environment), augmented with visual information from the cameras and pre-computed tracking information of moving targets to generate novel perspective corrected 3D views of the virtual camera and moving objects. To achieve real-time rendering performance, view-dependent textured mapped billboards are used to render the moving objects at their correct locations and foreground masks are used to remove the moving objects from the projected video streams. The current prototype runs on a PC with a common graphics card and can generate virtual 2D views from three cameras of resolution 768×576 with several moving objects at about 11 fps.     

自由立体显示中的实景立体影像获取方法

获取适当位差的立体影像是自由立体显示系统的重要环节.针对该问题,提出了无导轨实景拍摄立体影像的过程和方法.分析并计算了立体包容范围与相机间距的关系,建立了立体场景包容范围模型.在测量自制各尺寸显示器的水平视差极限后,给出了最佳拍摄间距,为立体实景拍摄和制作提供了理论依据.     

高速智能相机一维条码的自适应快速定位

随着现代科技的高速发展,一些高新领域要求智能相机具备一维条码的高速解读功能,其关键技术是一维条码的自适应快速定位。为了更快速地进行复杂背景和倾斜、破损情况下条码定位,提出了一种应用于智能相机的新方法。该方法的基本原理是基于DSP运算特征的条码形态学特征分析,利用基于DSP的快速区域分析算法得到区域特征,并通过筛选和扫描完成最终的定位。据我们所知,将基于DSP的快速区域分析算法应用于智能相机,为一维条码的高速解读奠定了坚实的技术支撑,在国内还未见报道。     

冷轧带钢表面质量自动检测系统的在线应用研究

介绍一套在精整线上使用的冷轧带表面质量自动检测系统,该系统用在于在线检测划痕,折印,锈斑,辊印等常见的冷轧带钢表面缺陷。系统采用多个面阵CCD摄像头同步采集图像的方式,并通过由LED光源构成的“暗场照明”方式实现对缺陷的检测,系统采用了并行计算机制和多线程机制,并对算法进行了优化,从而满足数据的实时处理要求。     

高速拼接CCD相机时序设计

高速拼接CCD相机是目前我国空间目标监控领域中急需的CCD相机之一,相机的研制对提高我国高速拼接CCD相机的研制能力有很大的推动作用。本文重点介绍了16通道高速拼接CCD相机的时序设计,以及相机的实测结果,并对相机的实际应用前景进行了展望。     

基于DSP的运动相机控制系统设计

设计了一种基于DSP的运动相机控制系统,对相机做“重复启停”运动进行控制。使用TMS320LF2407控制ASM46AK—H100谐波减速步进电机,驱动相机很快到达指定位置进行拍照,实验数据表明可以重复拍摄周期且图像清晰。