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C00002 00002 {I50,0W0,1260,0,1900JUFAJC} SUMMARY OF MY RECENT AND FURTURE WORK IN
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{I50,0;W0,1260,0,1900;JUFA;JC} SUMMARY OF MY RECENT AND FURTURE WORK IN
{FDJC} COMPUTER VISION AND ROBOTICS {FA}
{FAJC} BRUCE G. BAUMGART
{JC} ~OVERALL~
I have been and am continuing to do vision programming
directed towards making a computer system that can manipulate and
navigate in the real mundane world. My approach may be characterized
as ad hoc, numerical and experimental
Overall, I work under the assumption that vision
consists of three modes: DESCRIPTION, VERIFICATION and RECOGNITION
performed at three levels of abstraction 2-D IMAGES, 3-D MODELS and
TASK oriented procedures.
{JC} ~RECENT WORK~
I have recently completed a thesis titled "Geometric Modeling
for Computer Vision" which included a demonstation of pure
~DESCRIPTIVE VISION~ in which 3-D polyhderal models of objects were
computed from television views of the objects being rotated on a
turntable. In computer vision geometric models provide a goal for
descriptive image anaylsis, an origin for verification image
synthesis and a context for spatial problem solving. Some of these
design ideas have been implemented in two programs called GEOMED and
CRE.
{JC} ~CURRENT WORK~
I am currently working on ~VERIFICATION VISION~ under an NSF
grant for research related to automating the task of factory
assembly. I am just now adding simple ad hoc verification vision
routines to the existing manipulation programs of Lou Paul so that an
expected hole can be visually located and such that an automatic
screw fetch can be visually verified. At present these two simple tasks
are done tactily.
{JC} ~FUTURE WORK~
I intend to develope better 3-D models such as to represent
the occupancy of objects in space and curved objects; better 2-D
image analysis programs such as to convert sequences of images into
accurate photometric, geometric and topological data concerning the
world being viewed; and I intend to develope goal seeking task
performing "creature" simulations which I believe to be the
simple essense of intelligence. On such a foundation, the final
goal of ~RECOGNITION VISION~ approaching human ability can be built.