ADAPTIVE AID GRANT FOR EDUCATION

摘要

An adaptive vision-based controller for controlling a robot arm for example is disclosed. The controller comprising: a camera; a segmenter for analysing images from the camera as regards their content; a tracker, sketcher and ranger responsive inter alia to information from the segmenter for creating a three dimensional segmented data list; a recogniser for receiving the data list and comparing data in the list against a database of plausible objects; and a planner interactive with the recogniser and responsive to task definitions for developing control outputs. The segmenter decomposes the images into regions of approximately uniform hue and the sketcher generates a sketch of the image, the sketch being composed of arcs each of which represents a significant feature in the image. The tracker tracks features and regions of interest through a series of images, and the ranger generates depth and scale information from the multiple views. Thus the job of the ranger is to construct a three dimensional representation of the scene which is invariant with respect to movement of the camera. The recogniser uses scenic information such as feature maps produced by the segmenter, etc., in conjunction with a knowledge base to construct a world model which is a logical representation of the world as seen through the camera. The planner uses the world model and the task definitions to construct a plan in the form of a set of actions for accomplishing the defined task. The planner also generates demands for further information from other subsystems as and when they are required. An action servo is optionally provided to bypass the tracker, sketcher and ranger and the recogniser and pass data from the segmenter directly to the planner once an object has been recognized. By way of the control system, information about how the robot arm is actually performing a task can be quickly compared with the desired task and the desired task can be updated if necessary. Thus the controller provides visual feed back control of the task performed by the robot arm.