Abstract: A method and apparatus for motion estimation in a video signal includes an edge detector for generating present and reference binary edge bit maps and a binary block matcher for receiving the present and reference binary edge bit maps from the edge detector and for generating a motion vector for each of a plurality of blocks in the binary edge bit maps. By using binary edge bit map data to generate motion vectors, computational requirements are reduced. If the apparatus is provided as an integrated circuit, the technique of the present invention reduces cost, power requirements and size of the integrated circuit.

Abstract: Edge or contour information is extracted from an image array by filtering and encoded. In order to improve reproduction accuracy, two separate filters are used to detect edge information. One of the filters detects "sharp" edges, or edges in which the discontinuity in pixel intensity values occurs over a range of a few pixels. The other filter detects "level" edges in which the pixel intensity value discontinuity occurs over a larger range of pixels than the "sharp" edges. The "smooth" areas between edges or contours are assumed to vary continuously between the contours, but for efficient implementation, a one-dimensional linear interpolation is used to regenerate the contour information between edges. In addition, to further improve performance, a line is fitted to the pixel intensity data. The end values of this line are then used for the pixel intensity data.

Abstract: An adaptive cruise control system for motor vehicles uses a video camera and digital processing techniques to enable one vehicle to follow another at a substantially constant or safe distance on a highway under favorable weather conditions.

Abstract: There is provided a method of detecting any positional deviation of a workpiece from a reference position with the aid of an image sensor. First, a sample workpiece is put at the predetermined position, and is detected by the image sensor to provide reference image information. Likewise, a workpiece under inspection is detected by the image sensor to provide workpiece image information. The reference information is subjected to a parallel transformation and/or rotation and is compared with the workpiece image which remains in the original state, to detect the correlation degree between the two sets of information. The detection of the correlation degree is repeated for each incremental parallel transformation and/or rotation of the reference information.

Abstract: Manipulator apparatus with weld seam tracking capabilities is provided with a sensing hand attached to the manipulator arm. The manipulator apparatus traverses a taught welding path on a workpiece to determine any deviation between the workpiece path and the taught path. The sensing hand includes a projection unit for projecting an optical slit pattern onto the workpiece. The sensing hand also includes a path sensing unit including an objective lens and a fiber optic cable for receiving by reflection from the workpiece the projected optical slit pattern. The fiber optic cable is connected to a camera located remotely from the sensing hand. The image received by the camera is utilized by the manipulator apparatus to determine the deviation between the path traversed by the manipulator during sensing and the sensed workpiece path. The deviation is then utilized to calculate the workpiece path data.

Abstract: Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece by the appropriate recording of data representing the welding path as an operator controls movement of the manipulator. In addition to the data representing the taught welding path, data representing a reference image or template is also recorded in the teach mode. The reference image or template data is provided by a vision system including a camera carried by the manipulator arm. As successive workpieces are presented to the manipulator for performing the desired welding path, in a repeat work cycle mode the manipulator is controlled to move in accordance with the recorded taught data in a first repeat pass wherein images of the welding seam region are detected at successive points.

Abstract: An automatic arc welding machine having a welding torch adapted to be placed against a workpiece and a monitoring sensor such as an image taking tube for sensing the workpiece. The operation of the sensor is so controlled that it is operated when the welding current to the torch is interrupted or decreased so that any effect of welding arc on the image taking tube can be avoided.

Abstract: An automatic arc welding machine includes a work monitoring device comprising a light source for projecting a light to the workpiece and an image taking device which receives the light as reflected by the workpiece. The light source is so controlled in accordance with the operation of the image taking device that the average intensity of the projected light is increased when the image taking device is in operation. The arrangement is effective to increase the signal-to-noise ratio.