Computer vision systems are today an important sensor for intelligent robotic systems. However, the design of a vision system that a robot can use as a fast and robust sensors in a complex, partially unknown and dynamic environment is still diicult. A main reason for this is that the parameters of vision systems are often adjusted by hand and remain static during the operation of the robot. In ...

This thesis presents an investigation of a computational model of hierarchical visual behaviours within an active binocular robot vision architecture. The robot vision system is able to localise multiple instances of the same object class, while simultaneously maintaining vergence and directing its gaze to attend and recognise objects within cluttered, complex scenes. This is achieved by implem...

While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without occlusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmit-tance are a...

The use of robots in dynamic and unstructured environments poses difficult challenges for machine vision. The vision systems for such robots must report changes in the world quickly and must deal with objects that have not been previously seen or specified. A promising approach to building such vision systems is to construct generally applicable, modular vision services that compute summarizati...

Vision based control for robots has been an active area of research for more than 30 years and significant progresses in the theory and application have been reported (Hutchinson et al., 1996; Kragic & Christensen, 2002; Chaumette & Hutchinson, 2006). Vision is a very important non-contact measurement method for robots. Especially in the field of humanoid robots, where the robot works in an uns...

The research of autonomous robots is one of the most important challenges in recent years. Among the numerous robot researches, the humanoid robot soccer competition is very popular. The robot soccer players rely on their vision systems very intensively when they are in the unpredictable and dynamic environments. This work proposes a simple and real-time object recognition system for the RoboCu...

A robot arm/manipulator finds its applications in variety of areas to takeaway the processes which are repetitive, highly multifaceted and perilous, destructive or of high-precision in its nature. Robot manipulators are intended to use in object sorting applications because of its high accuracy and precision operation. Robot manipulator shows many advantages when it is networked and automated w...

This paper proposes a new self-localization algorithm, called dual-circle self-localization algorithm, for use in omnidirectional vision robots. When an autonomous robot navigates in the field, it senses the environment by an omnidirectional vision device fitted on the robot. The landmarks information is acquired by using image processing and pattern recognition techniques. Robot position on th...

We introduce our approach that makes a robot learn to behave adequately to accomplish a given task at hand through the interactions with its environment with less a priori knowledge about the environment or the robot itself. We briefly present three research topics of vision-based robot learning in each of which visual perception is tightly coupled with actuator effects so as to learn an adequa...

We introduce our approach, a new direction of robotics research that makes a robot learn to behave adequately to accomplish a given task at hand through the interactions with its environment with less a priori knowledge about the environment or the robot itself. We brie y present three research topics of vision-based robot learning in each of which visual perception is tightly coupled with actu...