A common industrial problem is to load and unload process machinery. A feasible solution to a large subset of this problem has been demonstrated using sensor-equipped robot systems. These systems combine both remotely and locally sensed data with heuristic analysis algorithms. These algorithms can successfully direct a robot to acquire a part from a jumbled heap. This paper presents a heuristic vision analysis algorithms which are based on neighborhood operators. The algorithms combine global characteristics and local matches to graspable inside or outside edge pairs, the pattern of a holdsite. The properties inherent to neighborhood operators permit smoothed local edge information to be extracted from images of the target class of parts.
Robert B. Kelley,
Philip R. Gouin,
"Using Neighborhood Operators To Detect Graspable Inside And Outside Edges", Proc. SPIE 0595, Computer Vision for Robots, (9 June 1986); doi: 10.1117/12.952241; https://doi.org/10.1117/12.952241