This PhD thesis deals with the use of structural methods of objects identification for industrial robots operation. First, the present state of knowledge in the field is described, i.e. the whole process of objects recognition with the aid of common methods of the syntactic analysis. The main disadvantage of these methods is that is impossible to recognize objects whose digitalized image is corrupted in some ways (due to excessive noise or image disturbances), objects are therefore deformed. Further, other methods for the recognition of deformed objects are described. These methods use structural description of objects for object recognition, i.e. methods which determine the distance between attribute descriptions of images. The core part of this PhD thesis begins in Chapter 5, where deformation grammars, capable of description of all possible object deformations, are described. The only complication in the analysis is the ambiguity of the deformation grammar, which lowers the effectiveness of the analysis. Further, PhD thesis deals with the selection and modification of a proper parser, which is able to analyze a deformation grammar effectively. Three parsers are described: the modified Earley parser, the modified Tomita parser and the modified hybrid LRE(k) parser. As for the modified Earley’s parser, ways of its effective implementation are described. One of the necessary parts of the object recognition is providing the invariances, which this PhD thesis covers in detail, too. Finally, the results of described algorithms are mentioned (successfulness and speed of deformed objects recognition) and suggested testing environment and implemented algorithms are described. In conclusion, all determined possibilities of deformation grammars and their results are summarized.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:233840 |
| Date | January 2009 |
| Creators | Minařík, Martin |
| Contributors | Šlapal, Josef, Konečný, Vladimír, Šťastný, Jiří |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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