POPEYE: A Gray-Level Vision System for Robotics Applications.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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A gray-level image processing system has been constructed to provide capability for inspection, object orientation, object classification,and interactive control tasks in an inexpensive, stand-alone system with moderate processing speed. The POPEYE system offers a range of functions including algorithms for preprocessing, feature extraction, image modeling, focusing, automatic pan, tilt, and zoom, interactive communication with other devices, and convenient user interaction. The host processor is a Motorola 68000 processor with Multibus communication between principal modules, an image data bus for acquisition and storage and a pipeline bus for image preprocessing and programmable transform operations. The software structure provides hierarchical control over multiple io devices, file management of system storage, an image management package and a vector package. Performance of the system is evaluated using convolution filters, adaptive modeling, histogram modification, and connectivity analysis. Cellular logic operations, piecewise gradient segmentation, automatic focusing, and adaptive spatial filtering examples are described in detail. The system is being applied to a number of practical industrial applications. Author
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