让机器人像人一样精准读取实验室线性刻度仪的数值
Vision-based module for accurately reading linear scales in a laboratory
- 模仿人类视觉习惯，通过图像变换与局部区域提取定位刻度
- 在随机朝向的注射器上实现与人工读数高度一致的测量精度
- 适合需要自主读数的实验室机器人系统，如自动化检测场景
视觉模型的能力和数量正在快速增长，已能高效完成目标检测、图像分类、实例分割等任务。然而，能够像人类一样从图像中准确获取定量测量值的模型仍十分稀少。为使机器人在非结构化实验室环境中实现完全自主，需具备导航、操作物体、制备样本等基本能力，其中读取仪器测量值尤为关键。本文提出一种模拟人类视觉的线性刻度读数方法，以注射器和量筒为例进行测试。针对任意朝向的注射器，系统先进行图像变换校正方向，再聚焦于刻度区域，提取主要标记、对应数字及液面指示位置，最终计算出读数。实验结果表明，该系统读数与人工读数高度一致，验证了其准确性与鲁棒性。
原文摘要 · Abstract (English)
Capabilities and the number of vision-based models are increasing rapidly. And these vision models are now able to do more tasks like object detection, image classification, instance segmentation etc. with great accuracy. But models which can take accurate quantitative measurements form an image, as a human can do by just looking at it, are rare. For a robot to work with complete autonomy in a Laboratory environment, it needs to have some basic skills like navigation, handling objects, preparing samples etc. to match human-like capabilities in an unstructured environment. Another important capability is to read measurements from instruments and apparatus. Here, we tried to mimic a human inspired approach to read measurements from a linear scale. As a test case we have picked reading level from a syringe and a measuring cylinder. For a randomly oriented syringe we carry out transformations to correct the orientation. To make the system efficient and robust, the area of interest is reduced to just the linear scale containing part of the image. After that, a series of features were extracted like the major makers, the corresponding digits, and the level indicator location, from which the final reading was calculated. Readings obtained using this system were also compared against human read values of the same instances and an accurate correspondence was observed.
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