Abstract
This paper deals with problems and solutions in applications of Image Analysis Systems. Important applications are visual inspection, sensor-controlled handling and assembly, and the control of tools, machines, or processes. When designing Image Analysis Systems one must not only solve image analysis problems: the whole workplace must be engineered in order to reach practical solutions.
One particular requirement for Image Analysis Systems is the capability of real-time processing. Selected methods of image processing and analysis are discussed under this aspect. It is pointed out why practical systems perform binary image processing, and it is argued that this suffices for many practical tasks. A brief survey of existing systems shows the state-of-the-art and a discussion of applications illustrates the power of these systems.
In the third part is presented a system — ‘S.A.M.’ (for: Sensorsystem for Automation and Measurement) — that the authors have developed. S.A.M. is a kit whose modules can be combined into configurations that are adapted to particular tasks. S.A.M. hardware consists of three groups of modules that perform: 1) video input processing, 2) image processing and analysis (including image storage), and 3) data processing. The purpose of the second group of processors is the reduction of data (TV on-line feature extraction). Extracted features are: component labels, area, perimeter, number of holes, and centroid coordinates for up to 255 blobs in a binary image. These data are collected and highly organized by the Data Processing Modules. S.A.M. software is implemented in three layers: 1) basic software, 2) problem oriented software, and 3) operator oriented software. With the aid of S.A.M. hardware and software the analysis of complex binary images can be performed in less than 500 ms — despite the use of a micro-processor. In concluding, the authors give an example where a S.A.M. configuration was coupled with an industrial robot for grasping parts from a running conveyor belt.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
4. Literature
Abbraham, R.G. Stewart, R.J.S. Shum, L.Y. "State-Of-The-Art in Adaptable-Programmable Assembly Systems". International Fluidics Services Ltd. (Publ.), Kempston, Bedford, UK, 1977.
Agin, G.J. "An Experimental Vision System for Industrial Applications". Stanford Res. Lab., Tech. Note 103, Menlo Park, CA, USA, June 1975.
Agin, G.J. Duda, R.O. "SRI Vision Research for Advanced Industrial Automation". Proc. USA-Japan Computer Conference, Tokyo, August 1975.
Agin, G.J. "An Experimental Vision System for Industrial Application". Proc. 5th Int. Symp. on Industrial Robots, Chicago, Ill., September 1975.
Agin, G.J. (A) "Vision Systems for Inspection and for Manipulator Control". Proc. of the 1977 Joint Automatic Control Conference, pp. 132–138
Agin, G.J. (B) "Servoing With Visual Feedback". Proc. 7th Int. Symp. on Industrial Robots, Tokyo, October 1977, pp. 551–560.
Agin, G. "Real Time Control of a Robot with a Mobile Camera". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., March 1979 pp. 233–246
Agrawala, A.K. Kulkarni, A.V. "A Sequential Approach to the Extraction of Shape Features". Computer Graphics and Image Processing 6 (1977), pp. 538–557
Albrecht, M. Hille, G. Karow, P. Schöne, H. Weber, J. "Teileprüfung im Automobilbau mittels Fernsehkamera und Prozessrechner". Proc. INTERKAMA 1977, Syrbe, M. & Will, B. (Eds.), Fachberichte Messen-Steuern-Regeln 1, Springer-Verlag 1977, pp. 107–117.
Allen, G.R. Juetten, P.G. "SPARC — Symbolic Processing Algorithm Research Computer". Proc. ‘Image Understanding Workshop’ Nov. 78, pp. 182–190.
Armbruster, K. Martini, P. Nehr, G. Rembold, U. Olzmann, W. "A Very Fast Vision System for Recognizing Parts and their Location and Orientation". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., March 1979, pp. 265–280.
Ashkar, G.P. Modestino, J.W. "The Contour Extraction Problem with Biomedical Applications". Computer Graphics & Image Processing 7 (1978), pp. 331–355.
Batchelor, B.G. (A) "A Preliminary Note on the Automatic Inspection of Male Screw Threads". Proc. 3rd Int. Conf. on Automated Inspection and Product Control, Nottingham, UK, April 1978, pp. 139–176.
Batchelor, B.G. (B) "SUSIE: A Prototyping System for Automatic Visual Inspection". 4th Int. Conf. on Automated Inspection and Product, Chicago, Ill, November 1978, pp. 49–80.
Baird, M. (A) "An Application of Computer Vision to Automated IC Chip Manufacture". Proc. 3rd Int. Joint Conf. on Pattern Recognition Coronado, CA, November 1976, pp. 3–7.
Baird, M.L. (B) "Sequential Image Enhancement Technique for Locating Automotive Parts on Conveyor Belts". Gerneral Motors Res. Lab. Publ. GMR-2293, CS Dept., Warren, MI, USA, Nov. 1976.
Baird, M.L. "Image Segmentation Technique for Locating Automotive Parts on Belt Convevors". Proc. Int. Joint Conf. on Artificial Intelligence, Tokyo, Japan, Aug. 1977, pp. 694–695.
Baird, M. "SIGHT-I: A Computer Vision System for Automated IC Chip Manufacture". IEEE Trans. Systems, Man & Cybernetics SMC-8 (1978) 2, pp. 133–139.
Barrow, H.G. Popplestone, R.J. "Relational Descriptions in Picture Processing". in: B. Meltzer & Michie, D. (Eds.): ‘Machine Intelligence 6', University Press, Edinburgh, 1971 pp. 377–396.
Barrow, H.G. Ambler, A.P. Burstall, R.M. "Some Techniques for Recognizing Structures in Pictures". in: S. Watanabe (Ed.), ‘Frontiers of Pattern Recognition', Academic Press, N.Y., 1971, pp. 1–32
Birk, J. Kelley, R.B. et.al. "Orientation of Workpieces by Robots Using the Triangle Method". SME Tech Paper MR 76-612 Univ. Rhode Island, EE Dept. Kingston, RI, USA, 1976
Birk, J. Kelley, R. Chen, N. (A) "Visually Estimating Workpiece Pose in a Robot Hand Using the Feature Points Method". Proc. IEEE Conf. on Decision & Control, San Diego, CA, January 1979, pp. A1-1–A1-6
Birk, J. Kelley, R. et al. (B) "General Methods to Enable Robots with Vision to Acquire, Orient, and Transport Workpieces". 5th report, EE Dept., Univ. of Rhode Island, Kingston, RI, USA, Aug. 1979
Birk, J. Kelley, R. et al. "General Methods to Enable Robots with Vision to Acquire, Orient and Transport Workpieces". 6th report EE Dept., Univ. of Rhode Island, Kingston, RI, USA, Aug. 1980.
Bjorklund, C.M. "Syntactic Analysis & Description of Stroke-Based Shapes". Proc. IEEE Conf. Pattern Recognition and Image Processing, Troy, NY, USA, June 1977, pp. 198–202.
Bolles, R.C. (A) "Robust Feature Matching through Maximal Cliques". SPIE Vol 182 ‘Imaging Applications for Automated Industrial Inspection & Assembly;Washington, D.C., USA, April 1979, pp. 140–149.
Bolles, R.C. (B) "Part Acquisition Using the SRI Vision Module". Proc. 3rd IEEE Computer Software & Applications Conference COMPSAC-79, Chicago, Ill., November 79, pp. 872–877
Bretschi, J. "A Microprocessor Controlled Visual Sensor for Industrial Robots". The Industrial Robot 3 (1976) 4, pp. 167–172.
Brook, R.A. Purll, D.J. Jones, G.H. Lewis, D.O. "Practical Experience of Image Processing in On-Line Industrial Inspection Applications". SPIE Proc. Vol. 130, Automation and Inspection Applications of Image Processing Techniques, London, Sept. 1977, pp. 84–97.
Burow, M. Wahl, F. "Eine verbesserte Version des Kantendetektionsverfahrens nach Mero/Vassy". ‘Angewandte Szenenanalyse', J.P. Foith (Ed.), Informatik-Fachbericht 20, Springer-Verlag, Heidelberg, 1979, pp. 36–42.
Callen, J.E. Anderson, P.N. "Checking Labeled Bottles Electro-Optically". Electro-Optical Systems Designs, July 1975, pp. 44–46.
Claridge, J.F. Purll, D.J. "Automatic Inspection & Gauging Using Solid-Sate Image Scanners". 3rd Int. Conf. on Automated Inspection and Product Control, Nottingham, UK, April 1978, pp. 31–41.
Colding, B. Colwell, L.V. Smith, D.N. "Delphi Forecasts of Manufacturing Technology". International Fluidics Services (Publ.) Kempston, Bedford, UK, 1979
Cronshaw, A.J. Heginbotham, W.B. Pugh, A. "Software Techniques for an Optically Tooled Bowl Feeder". 3rd Int. Conf. on Trends in On-Line Computer Control Systems, Univ. of Sheffield, UK, March 1979, pp. 145–150.
Cronshaw, A. J. Heginbotham, W.B. Pugh, A. "A Practical Vision System for use with Bowl Feeders". Proc. ist Int. Conf. on Assembly Automation, Brighton, UK, March 1980, pp. 265–274.
Davis, L.S. "A Survey of Edge Detection Techniques". Computer Graphics and Image Processing 4 (1975) pp. 248–270.
De Coulon, D. Kammenos, P. "Polar Coding of Planar Objects in Industrial Robot Vision". Neue Technik (NT) (1977) 10, pp. 663–671
Dessimoz, J.-D. "Identification et Localisation Visuelle D'Objets Multiples Par Poursuite de Contour et Codage de Courbure". Compte-Rendus Journées de Microtechnique, EPF-Lausanne, Suisse, Sept. 1978
Dessimoz, J.D. Kunt, M. Zurcher, J.M. Granlund, G.H. "Recognition and Handling of Overlapping Industrial Parts". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., USA, March 1979, pp. 357–366.
Dodd, G.G. Rossol, L. "Computer Vision and Sensor-Based Robots". Plenum Press, New York, 1979
Duda, R. Hart, P. "Pattern Classification & Scene Analysis" John Wiley & Sons, N.Y. 1973
Duff, M.J.B. "CLIP 4 — A large Scale Integrated Circuit Array Parallel Processor." Proc. Int. Joint Conf. Pattern Recognition, Coronado, CA. USA, Nov. 1976, pp. 728–733
Ehrich, R.W. "Detection of Global Edges in Textured Images". IEEE. Trans. Comp. C-26 (1977) 6, pp. 289–603
Ejiri, M. Uno, T. Mese, M. Ikeda, S. "A Process for Detecting Defects in Complicated Patterns". Computer Graphics and Image Processing (1973) 2, pp. 326–339.
Enderle, E. "Ein Baukastensystem für Bildsensoren zur Sichtprüfung und Prozeßsteuerung". PDV-Bericht "INTERKAMA'80", W. Hofmann, (Ed.), Kernforschungszentrum Karlsruhe, August 1980, Kfk-PDV, pp. 358–365.
Eskenazi, R. Wilf, J. "Low Level Processing for Real-Time Image Analysis". Proc. IEEE Comp. Soc. 3rd Int. Comp. — Software & Applications Conference (COMPSAC '79), Nov. 79, Chicago, Ill, USA, pp. 340–343.
Eversole, W.L. Mayer, D.J. Frazee, F.B. Cheek, Jr. J.F. "Investigation of VLSI Technologies for Image Processing". Proc. ‘Image Understanding Workshop', Palo Alto, CA, USA, April 1979, pp. 159–163.
Feng, H.F. Pavlidis, T. "Decomposition of Polygons into Simpler Components: Feature Generation for Syntactic Pattern Recognition". IEEE Trans. Comp. C-24 (1975) 6, pp. 636–650.
Flöscher, R. Partmann, T. "Sensorsystem zum automatischen Aussortieren fehlerhafter Kleinteile". Mitteilungen aus dem Fraunhofer-Institut für Informations-und Datenverarbeitung (IITB), FhG-Berichte 2–80, Karlsruhe 1980, pp. 23–25
Foith, J.P. "Lage-Erkennung von beliebig orientierten Werkstücken aus der Form ihrer Silhouetten". Proc. 8th Int. Symposium on Industrial Robots, Böblingen, W.-Germany, May/June 1978, pp. 584–599.
Foith, J.P. Geisselmann, H. Lübbert, U. Ringshauser, H. "A Modular System for Digital Imaging Sensors for Industrial Vision." Proc. 3rd CISM-IFToMM Symposium in Theory and Practice of Robots and Manipulators, Udine, Italy, Sept. 1978, Elsevier, Amsterdam, 1980, pp. 399–422
Foith, J.P. "A TV-Sensor for Top-Lighting and Multiple Part Analysis." Proc. 2nd IFAC/IFIP Symposium on Information Control Problems in Manufacturing Technology, Stuttgart, Oct. 1979, U. REMBOLD (Ed.), Pergamon Press, Oxford, 1979, pp. 229–234.
Foith, J.P. Eisenbarth, C. Enderle, E. Geisselmann, H. Ringshauser, H. Zimmermann, G. "Optischer Sensor für Erkennung von Werkstücken auf dem laufenden Band — realisiert mit einem modularen System." in: H. Steusloff (Ed.): "Wege zu sehr fortgeschrittenen Handhabungssystemen", Messen — Steuern — Regeln Band 4, Springer-Verlag, Berlin 1980, pp. 135–155.
Frei, W. Chen, Ch.-Ch. "Fast Boundary Detection: A Generalization and A New Algorithm". IEEE Trans. on Comp. C-26 (1977) 10, pp. 988–998
Fries, R.W. Modestino, J.W. "An Empirical Study of Selected Approaches to the Detection of Edges in Noisy Digitized Images". Proc. IEEE Conf. on Patt. Rec. & Image Processing, Troy, N.Y. USA, June 1977, pp. 225–230
Geisselmann, H. "Griff in die Kiste durch Vereinzelung und optische Erkennung." in: H. Steusloff (Ed.): 'Wege zu sehr fortgeschrittenen Handhabungssystemen', Fachberichte Messen-Steuern-Regeln Band 4, Springer-Verlag, Berlin 1980, pp. 156–165
Giralt, G. Ghallab, M. Stuck, F. "Object Identification and Sorting with an Optimal Sequential Pattern Recognition Method". Proc. 9th Int. Symp. on Industrial Robots, Washington, D.C., USA, March 1979, pp. 379–389
Gleason, G.J. Agin, G.J. "A Modular Vision System for Sensor-Controlled Manipulation and Inspection." Proc. 9th Int. Symp. on Industrial Robots Washington D.C., March 1979, pp. 57–70.
Goto, N. Kondo, T. Ichikawa, K. Kanemoto, M. "An Automatic Inspection System for Mask Patterns". Proc. 4th Int. Joint Conf. on Pattern Recognition, Kyoto, 1978 pp. 970–974
Haralick, R.M. Shapiro, L.G. "Decomposition of Polygonal Shapes by Clustering". Proc. IEEE Conf. Pattern Recognition and Image Processing `77, Troy, N.Y., USA, June 1977, pp. 183–190
Hasegawa, K. Masuda, R. "On Visual Signal Processing for Industrial Robot". Proc. 7th Int. Symposium on Industrial Robots, Tokyo, Japan, Oct. 1977, pp. 543–550
Heginbotham, W.B. et al. "The Nottingham 'sirch’ Assembly Robot". Proc. 1st Conf. on Industrial Robots Nottinghm, UK; 1973 pp. 129–142
Hill, J.W. Sword, A.J. "Programmable Part Presenter Based on Computer Vision and Controlled Tumbling". Proc. 10th Int. Symp. on Industrial Robots, Milan, Italy, March 1980, pp. 129–140
Holland, S.W. "A Programmable Computer Vision System Based on Spatial Relationships". General Motors Res. Lab. Publication GMR-2078 CS Dept., Warren, MI, USA, Feb. 1976
Holland, S.W. Rossol, L. Ward, M.R. "CONSIGHT-I: A Vision Controlled Robot System for Transferring Parts from Belt Conveyors". in: ‘Computer Vision and Sensor-Based Robots', G.G. Dodd & L. Rossol (Eds), Plenum Press, N.Y., 1979, pp. 81–97
Hsieh, Y.Y. Fu, K.S. "A Method for Automatic IC Chip Alignment and Wire Bonding". Proc. IEEE Conf. on Pattern Recognition and Image Processing, Chicago Ill., August 1979, pp. 101–108
Hueckel, M.H. "An Operator which Locates Edges in Digitized Pictures" Journal of the ACM 18 (1971) 1, pp. 113–125.
Iannino, A. Shapiro, S.D. "A Survey of the Hough Transform and its Extensions for Curve Detection". Proc. IEEE Conf. on Patt. Rec. & Image Processing, Chicago, Ill, June 1978, pp. 32–38
Jarvis, J.F. (A) "A Method for Automating the Visual Inspection of Printed Wiring Boards". IEEE Trans. Pami-2 (1980) 1, pp. 77–82.
Jarvis, J.F. (B) "Visual Inspection Automation" IEEE Computer may 1980, pp. 32–38
Kamin, G. "Der Geometrie Computer". rme 40 (1974) 3, pp. 105–109
Karg, R. "A Flexible Opto-Electronic Sensor". Proc. 8th Int. Symp. on Industrial Robots, Stuttgart, W.-Germany, May/June 1978, pp. 218–29
Karg, R. Lanz, O.E. "Experimental Results with a Versatile Optoelectronic Sensor in Industrial Applications". Proc. 9th Int. Symp. on Industrial Robots Washington D.C., March 1979, pp. 247–264.
Kashika, S. Ejiri, M. Sakamoto, Y. "A Transistor Wire-Bonding System Utilizing Multiple Local Pattern Matching Techniques." IEEE Trans. on System, Man, and Cybernetics SMC-6 (1976) 8, pp. 562–570
Kashioka, S. Takeda, S. Shima, Y. Uno, T. Hamada, T. "An Approach to the Integrated Intelligent Robot with Multiple Sensory Feedback: Visual Recognition Techniques". Proc. of 7th Int. Symp. on Industrial Robots, Tokyo, October 1977, pp. 531–538
Kelley, R.B. Birk,J. Wilson, L "Algorithms to Visually Acquire Workpieces". Proc. 7th Int. Symp. on Industrial Robots, Tokyo, Japan, Oct. 1977, pp. 497–506
Kelley, R.B. Birk, J. Martins, H. Tella, R. "A Robot System which Feeds Workpieces Directly from Bins into Machines". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., March 1979, pp. 339–355
Korn, A. "Segmentierung und Erkennung eines Objektes in natürlicher Umgebung". in: E. Triendl. (ED.): 'Bildverarbeitung und Mustererkennung', DAGM-Symposium Oct. 78, Informatik-Fachberichte Band 17, Springer Verlag, Berlin, 1978, pp. 265–274
Kruse, B. "A Parallel Picture Processing Machine". IEEE Trans. Comp. C-22 (1973) 12, pp. 1075–1087
Levialdi, S. "Finding the Edge". Proc. NATO Advanced Study Institute on Digital Image Processing and Analysis, June 23–July 4, 1980, Bonas, France, publ. by INRIA, Le Chesnay, pp. 167–208
Löffler, H. Jäger, J. "Meßverfahren der Bildanalyse zur Fertigungskontrolle feinmechanischer Präzisionsteile oder elektronischer Bauelemente". messen + prüfen/automatik, Oct. 79, pp. 755–758
Martelli, A. "Edge Detection Using Heuristic Search Methods". Computer Graphics & Image Processing 1 (1972) pp. 169–182.
Martini, P. Nehr, G. "Recognition of Angular Orientation of Objects with the Help of Optical Sensors". The Industrial Robot (1979) June, pp. 62–69.
McGhie, D. Hill, J.W. "Vision Controlled Subassembly Station". Society of Manufacturing Engineers (SME) Paper No. MS78-685, 1978
McKee, J.W. Aggarwal, J.K. "Computer Recognition of Partial Views of Curved Objects". IEEE Trans. Comp. C-26 (19–7) 8, pp. 790–800
Mero, L. Vassy, Z. "A Simplified and Fast Version of the Hueckel Operator for Finding Optimal Edges in Pictures". Proc. IJCAI '75, Tbilisi, USSR, 1975
Milgram, D.L. (A) "Region Extraction Using Convergent Evidence". L.S. Baumann (Ed.), Proc. ‘Image Understanding Workshop', Science Applications, Inc. Arlington, VA, April 1977, pp. 58–64
Milgram, D.L. (B) "Progress Report on Segmentation Using Convergent Evidence". L.S. Baumann (Ed.), Proc. ‘Image Understanding Workshop', Science Applications, Inc., Arlington VA, Oct. 1977, pp. 104–108
Milgram, D. Herman, M. "Clustering Edge Values for Threshold Selection". Computer Graphics and Image Processing 10 (1979), pp. 272–280
Montanari, U. "On the Optimal Detection of Curves in Noisy Pictures". Communications of the ACM 14 (1971), pp. 335–345.
Mori, K. Kidode, M. Shinoda, H. et al. "Design of Local Parallel Pattern Processor for Image Processing". Proc. AFIPS, Vol 47, June 1978, pp. 1025–1031.
Mundy, J.L. Joynson, R.E. "Automatic Visual Inspection Using Syntactic Analysis". Proc. IEEE Conf. on Pattern Recognition and Image Processing, Troy, N.Y., June 1977, pp. 144–147.
Nakagawa, Y. Rosenfeld, A. "Some Experiments on Variable Thresholding". CS Report TR 626, Univ. of Maryland, College Park, MD, January 1978
Nakagawa, Y. Rosenfeld, A. "A Note on Polygonal and Elliptical Approximation of Mechanical Parts". Pattern Recognition 11 (1979), pp. 133–142.
Nakamura, K. Edamatsu, K. Sano, Y. "Automated Pattern Inspection Based on ‘Boundary Length Comparison Method'". Proc. 4th Int. Joint Conf. on Pattern Recognition Kyoto, 1978.
Nawrath, R. "LEITZ-T.A.S., neue Möglichkeiten der Bildanalyse". LEITZ-Mitteilungen Wiss.-u. Techn, Band VII (1979) 6, Wetzlar, pp. 168–173
Nevatia, R. Babu, K.R. "Linear Feature Extraction and Description". Proc. 6th Int. Joint Conf. on Artificial Intelligence, Tokyo, Auf. 1979, pp. 639–641
Nitta, Y. "Visual Identification and Sorting with TV-Camera Applied to Automated Inspection Apparatus". Proc. 10th Int. Symp. on Industrial Robots Milan,Italy, March 1980, pp. 141–152
Nudd, G.R. Nygard, P.A. Erickson, J.L. "Image Processing Techniques Using Charge-Transfer Devices". Proc. ‘Image Understanding Workshop'. Palo Alto, CA.USA, Oct. 1977, pp. 1–6
Nudd, G.R. Nygard, P.A. Fouse, S.D. Nussmeier, T.A. "Implementation of Advanced Real-Time Image Understanding Algorithms". Proc. ‘Image Understanding Workshop', Palo Alto, CA. USA, April 1979, pp. 151–157
O'Gorman, F. "Edge Detection Using Walsh Functions". Artificial Intelligence 10 (1978), pp. 215–223.
Ohlander, R. Price, K. Reddy, D.R. "Picture Segmentation Using a Recursive Region Splitting Method". Computer Graphics and Image Processing 8 (1978), pp. 313–333.
Olsztyn, J.T. Rossol, L Dewar, R. Lewis, N.R. "An Application of Computer Vision to a Simulated Assembly Task". Proc. 1st Int. Joint Conf. on Pattern Recognition, Washington D.C., Oct./Nov. 1973, pp. 505–513
Panda, D.P. Rosenfeld, A. "Image Segmentation by Pixel Classification in (Gray-Level, Edge Value) Space". IEEE Trans. Comp. C-27 (1978) 9, pp. 875–879
Pavlidis, T. "Structural Pattern Recognition: Primitives and Juxtaposition Relations". in: S. Watanabe (ed.) "Frontiers of Pattern Recognition, Academic Press, N.Y., 1972 pp. 421–451
Pavlidis, T. "Structural Pattern Recognition". Springer Verlag, Berlin, 1977.
Pavlidis, T. "A Review of Algorithms for Shape Analysis". Computer Graphics and Image Processing 7 (1978) pp. 243–258
Perkins, W.A. "Model-Based Vision System for Scenes Containing Multiple Parts". Proc. Int. Joint Conf. on Artificial Intelligence, Tokyo, Japan, Aug. 1977, pp. 678–684
Perkins, W.A. "Computer Vision Classification of Automotive Control Arm Bushings". Proc. IEEE 3rd Int. Computer Software & Applications Conference COMPSAC 79, Chicago, Ill., November 1979, pp. 344–349
Perkins, W.A. "Area Segmentation of Images Using Edge Points". IEEE Trans. PAMI-2 (1980) 1, pp. 8–15.
Prager, J.M. "Extracting and Labeling Boundary Segments in Natural Scenes". IEEE Trans. PAMI-2 (1980) 1, pp. 16–27.
Prewitt, J.M.S. "Object Enhancement and Extraction". in: B. Lipkin, A. Rosenfeld (Eds.). ‘Picture Processing and Psychopictorics'. Academic Press. 1970, pp. 75–149
Pugh, A. Waddon, K. Heginbotham, W.B. "A Microprocessor-Controlled Photo-Diode Sensor for the Detection of Gross Defects". Proc. 3rd Int. Conf. on Automated Inspection and Product Control, Nottingham, UK, April 1978, pp. 299–312.
Restrick III, R.C. "An Automatic Optical Printed Circuit Inspection System". Proc. SPIE Vol. 116 'solid State Imaging Devices', 1977, pp. 76–81
Ridler, T.W. Calvard, S. "Picture Thresholding Using an Iterative Selection Method". IEEE Trans. SMC-8 (1978) 8, pp. 630–632.
Ringshauser, H. "Digitale Bildsensoren für industrielle Anwendungen in Sichtprüfung, Handhabung, Ablaufsteuerung und Prozeßregelung". LEITZ-Symposium ‘Quantitative Bildauswertung und Mikroskopphotometrie, Wetzlar, Sept. 79, Sonderheft MICROSCOPICA ACTA, Hirzel Verlag, Stuttgart, 1980, pp. 298–302.
Riseman, E.M. Arbib, M.A. "Computational Techniques in the Visual Segmentation of Static Scenes". Computer Graphics and Image Processing 6 (1977) pp. 221–276
Riseman, E.M. Hanson, A.R. "Segmentation of Natural Scenes". in: HANSON & RISEMAN (Eds.): ‘Computer Vision Systems', Academic Press, N.Y. 1978, pp. 129–163
Roberts, L.G. "Machine Perception of Three-Dimensional Solids." in: J. Tipett, D. Berkowitz, L. Clapp, C. Koester, & A. Vanderbrugh (Eds.), Optical and Electro-optical Information, M.I.T. Press, 1965, pp. 159–197
Robinson, G.S. Reis, J.J. "A Real-Time Edge Processing Unit". Proc. of IEEE Workshop on ‘Picture Data Description and Management', Chicago, Ill., U.S.A., April 1977, pp. 155–164.
Robinson, G.S. "Detection and Coding of Edges Using Directional Masks". Opt. Engr. 16 (1977) 6, pp. 580–585
Rosen, C. Nitzan, D. et al. "Exploratory Research in Advanced Automation". 5th Report, Stanford Research Institute, Menlo Park, CA, USA, Jan. 1976
Rosen, C.A. "Machine Vision and Robotics: Industrial Requirements". in: ‘Computer Vision and Sensor-Based Robots’ G.G. Dodd & L. Rossol (Eds.), Plenum Press, N.Y., 1979, pp. 3–20
Rosenfeld, A. Thurston, M. "Edge and Curve Detection for Visual Scene Analysis". IEEE Trans. Comp. C-20 (1971), pp. 562–569
Rosenfeld, A. Kak, A. "Digital Picture Processing". Academic Press, N.Y., 1 76
Rosenfeld, A. "Interactive Methods in Image Analysis" Proc. IEEE Conf. on Pattern Recognition & Image Proc. Troy, N.Y., June 1977 pp. 14–18
Rosenfeld, A. Hummel, Zucker, S. "Scene Labeling by Relaxation Operations". IEEE Trans. SMC-6 (1976), pp. 420–433
Saraga, P. Skoyles, D. R. "An Experimental Visually Controlled Pick and Place Machine for Industry". Proc. 3rd International Joint Conf. on Pattern Recognition, Coronado, CA, November 1976, pp. 17–21
Schärf, R. "Untersuchungen zur mehrkanaligen Bildverarbeitung und Objektseparierung". Proc. ‘Digital Image Processing', GI/NTG conference, March 1977, Munich, H.-H. Nagel (Ed.), Informatik-Fachberichte 8 Springer-Verlag, 1977, pp. 280–294
Shapiro, L.G. "A Structural Model of Shape". CS Dept. Tech. Report CS 79003-R, Virginia Polytechnic Institute & State Univ., Blacksburg, VA, USA April 1979
Slansky, J. "Image Segmentation and Feature Extraction". IEEE Trans on Systems, Man, and Cybernetics SMC-8 (1978) 4, pp. 237–247.
Shirai, Y. "Recognition of Real-World Objects Using Edge Cues". in: Hanson, A. & E. Riseman (Eds.): ‘Computer Vision Systems', Academic Press, N.Y., 1978, pp. 353–362
Spur, G. Kraft, H.-R. Sinning, H. "Optisches Erkennungssystem mit Halbleiterbildsensoren zur Steuerung von Industrierobotern". ZwF 73 (1978) 7, pp. 363–366.
Steusloff, H. (Ed.) "Wege zu sehr forgeschrittenen Handhabungs-systemen". Fachberichte Messen-Steuern-Regeln, Band 4, Springer-Verlag, Berlin, 1980
Sterling, W.M. "Automatic Non-Reference Inspection of Printed Wiring Boards". Proc. IEEE Conf. on Pattern Recognition and Image Processing, Chicago, Ill., August 1979, pp. 93–100
Stockman, G.C. Agrawala, A.K. "Equivalence of Hough Transformation To Template Matching". ‘Interactive Screening of Reconnaissance Imagery’ L.N.K. Corp., AMRL-TR-76-15 Silver Spring, Md June 76 pp. 105–114
Tani, K. Abe, M. Tanie, K. Ohno, T. "High Precision Manipulator with Visual Sense". Proc. 7th Int. Symp. on Industrial Robots, Tokyo, October 1977, pp. 561–568.
Tenenbaum, J.M. Kay, A.C. Binford, T. Falk, G. Feldman, J. Grape, G. Paul, R. Pingle, K. Sobel, I. Proc. Int. Joint Conf. on Artificial Intelligence, D.A. Walker & L.M. Norton (Eds. 1969) pp. 521–526 a.
Thissen, F.L.A.M. "Ein Gerät für die automatische optische Kontrolle von Verbindungsleiterbahnmustern für integrierte Schaltungen". Philips Technische Rundschau 37 (1977/78) Nr. 4, pp. 85–96.
Toda, H. Masaki, I. "Kawasaki Vision System — Model 79A". Proc. 10th Int. Symp. on Industrial Robots, Milan, Italy, March 1980, pp. 163–174
Tokumitsu, J. Kawata, S. Ichioka, Y. Suzuki, T. "Adaptive Binarization Using A Hybrid Image Processing System". Applied Optics 17 (1978) No. 16, Aug., pp. 2655–2657
Tropf. H. "Analysis-by-Synthesis Search to Interpret Degraded Image Data. 1st International Conference on Robot Vision and Sensory Controls, Stratford-on-Avon, UK. April 1–3, 1981
Vanderbrug, G.J. Albus, J.S. Barkmeyer, E. "A Vision System for Real Time Control of Robots". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., March 1979 pp. 213–231
Veillon, F. "One Pass Computation of Morphological and Geometrical Properties of Objects in Digital Pictures". Signal Processing 1 (1979) 3, pp.
Ward, M.R. Rossol. L. Holland, S.W. Dewar, R. "CONSIGHT: A Practical Vision-Based Robot Guidance System". Proc. 9th Int. Symp. on Industrial Robots, Washington D.C., March 1979 pp. 195–211
Wedlich, G. "Serienreifes Gerät zur lokaladaptiven Videosignalverarbeitung". IITB-Mitteilungen 1977 Fraunhofer-Gesellschaft, Karlsruhe, pp. 24–26
Willett, T.J. Bluzer, N. "CCD Implementation of An Image Segmentation Algorithm". Proc. ‘Image Understanding Workshop', Science Applications, Palo Alto, CA, USA, 1977, pp. 9–11.
Willett, T.J. Brooks, C.W. Tisdale, G.E. "Relaxation, Systolic Arrays, and Universal Arrays". Proc. Image Understanding Workshop' Palo Alto, CA, USA, April 79, pp. 164–170
Wolf, H. "Optisches Abtastsystem zur Identifizierung und Lageerkennung dreidimensionaler Objekte”. Feinwerktechnik & Messtechnik 87 (1979) 2, pp. 86–88.
Yachida, M. Ikeda, M. Tsuji, S. "A Knowledge Directed Line Finder for Analysis of Complex Scenes". Proc. IJCAI '79, Tokyo, August 79, pp. 984–991
Zamperoni, P. "Darstellung von Binärbildern mit Hilfe von dilatierten Kernen" in: J.P. Foith (Ed.): ‘Angewandte Szenenanalyse', Informatik-Fachbericht 20, Springer-Verlag, Berlin, 1978, pp. 124–128.
Zucker, S.W. Hummel, R.A. Rosenfeld, A. "An Application of Relaxation Labeling to Line and Curve Enhancement". IEEE Trans. Comp. C-26 (1977) 4, pp. 394–403
Zurcher, J.M. "Conception D'Un Systeme De Perception Visuelle Pour Robot Industriel". Compte rendus des Journées de Microtechnique, Ecole Polytechnique Federale, Lausanne, 1978, pp. 175–193.
Zurcher, J.-M. "Extraction de contours en traitment électronique des images II: Processeur spécialisé pour signal vidéo". Bull. ASE/UCS (Switzerland) 70 (1979) 11, 9 juin, pp. 532–536
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1981 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Foith, J.P., Eisenbarth, C., Enderle, E., Geisselmann, H., Ringshauser, H., Zimmermann, G. (1981). Real-time processing of binary images for industrial applications. In: Bloc, L., Kulpa, Z. (eds) Digital Image Processing Systems. Lecture Notes in Computer Science, vol 109. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-10705-3_4
Download citation
DOI: https://doi.org/10.1007/3-540-10705-3_4
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-10705-7
Online ISBN: 978-3-540-38665-0
eBook Packages: Springer Book Archive