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A visible-light robotic vision system must have a device for receiving incoming images. This is usually a charge-coupled device (CCD) video camera, similar to the type used in home video cameras. The camera receives an analog video signal. This is processed into digital form by an analog-to-digital converter (ADC). The digital signal is clarified by digital signal processing (DSP). The resulting data goes to the robot controller. The moving image, received from the camera and processed by the circuitry, contains an enormous amount of information. It s easy to present a robot controller with a detailed and meaningful moving image. But getting the machine s brain to know what s happening, and to determine whether or not these events are significant, is another problem altogether.
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There are subtle things about an image that a machine will not notice unless it has advanced AI. How, for example, is a robot to know whether an object presents a threat Is that four-legged thing there a big dog, or is it a bear cub How is a robot to forecast the behavior of an object Is that stationary biped a human or a mannequin Why is it holding a stick Is the stick a weapon What does the biped want to do with the stick, if anything The biped could be a department-store dummy with a closedup umbrella or a baseball bat. It could be an old man with a cane. Maybe it is a hunter with a rifle. You can think up various images that look similar, but that have completely different meanings. You know right away if a person is carrying a tire iron to help you fix a flat tire, or if the person is clutching it with the intention of smashing something up. How is
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Robotic hearing and vision 655 a robot to determine subtle things like this from the images it sees It is important for a police robot or a security robot to know what constitutes a threat and what does not. In some robot applications, it isn t necessary for the robot to know much about what s happening. Simple object recognition is good enough. Industrial robots are programmed to look for certain things, and usually they aren t hard to identify. A bottle that is too tall or too short, a surface that s out of alignment, or a flaw in a piece of fabric is easy to pick out.
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Sensitivity and resolution
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Sensitivity is the ability of a machine to see in dim light or to detect weak impulses at invisible wavelengths. In some environments, high sensitivity is necessary. In others, it is not needed and might not be wanted. A robot that works in bright sunlight doesn t need to be able to see well in a dark cave. A robot designed for working in mines, pipes, or caverns must be able to see in dim light, using a system that might be blinded by ordinary daylight. Resolution is the extent to which a machine can differentiate between objects. The better the resolution, the keener the vision. Human eyes have excellent resolution, but machines can be designed with greater resolution. In general, the better the resolution, the more confined the field of vision must be. To understand why this is true, think of a telescope. The higher the magnification, the better the resolution (up to a certain maximum useful magnification). Increasing the magnification reduces the angle, or field, of vision. Zeroing in on one object or zone is done at the expense of other objects or zones. Sensitivity and resolution are interdependent. If all other factors remain constant, improved sensitivity causes a sacrifice in resolution. Also, the better the resolution, the less well the vision system will function in dim light.
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