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1 March 1992 DIAC object recognition system
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This paper describes the object recognition system used in an intelligent robot cell. It is used to recognize and estimate pose and orientation of parts as they enter the cell. The parts are mostly metal and consist of polyhedral and cylindrical shapes. The system uses feature-based stereo vision to acquire a wireframe of the observed part. Features are defined as straight lines and ellipses, which lead to a wireframe of straight lines and circular arcs (the latter using a new algorithm). This wireframe is compared to a number of wire frame models obtained from the CAD database. Experimental results show that image processing hardware and parallelization may add considerably to the speed of the system.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Johannes Buurman "DIAC object recognition system", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992);

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