A computer vision program was developed to recognize the precise position of surface mount components. It directs a robot to load surface mount components on PC boards. This paper describes software algorithms and required hardware. Calibration between the robot and the vision system and the precision of the vision system are also presented.
Ning San Chang,
"SMV - A Computer Vision Program for Loading Surface Mount Components", Proc. SPIE 0557, Automatic Inspection and Measurement, (19 December 1985); doi: 10.1117/12.966261; https://doi.org/10.1117/12.966261