Coordinating robotic sensors in a complex environment for data collection and object recognition

Kelly A. Korzeniowski

doi:10.1117/12.189061

6 October 1994 Coordinating robotic sensors in a complex environment for data collection and object recognition

Kelly A. Korzeniowski

Author Affiliations +

Proceedings Volume 2355, Sensor Fusion VII; (1994) https://doi.org/10.1117/12.189061
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

Most robotic systems used today rely heavily on prior knowledge of the location of specific objects in the workspace. Uncertainty occurs even in these `fixed' manufacturing workspaces, where over time, the precision about the knowledge of the location of objects degrades. Therefore, the entire system must be reprogrammed when adjustments are made. A robot that is able to adapt to changes automatically, must be able to sense its surroundings and identify objects that are encountered. The objective of this work was to design control algorithms that would enable a multisensor robotic system to perform specified tasks in a real world environment. The robotic system presented in this paper operates with little or no prior knowledge. Therefore the robot is given the task of collecting information about its surroundings. Data may be collected for the purpose of object recognition, environment mapping or object manipulation. The main sensing capabilities chosen for this system are machine vision and tactile force sensing. Each sensing technique has its relative advantages and disadvantages. Therefore, it is best to combine and coordinate sensing techniques depending on the work environment and the task requirements. Experiments are performed to show that the algorithms allow the system to meet the goals of safety, accuracy and economical use of computational resources.

Citation Download Citation

Kelly A. Korzeniowski "Coordinating robotic sensors in a complex environment for data collection and object recognition", Proc. SPIE 2355, Sensor Fusion VII, (6 October 1994); https://doi.org/10.1117/12.189061

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
8 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Sensors

Object recognition

Robotic systems

Visualization

Environmental sensing

Manufacturing

Robotics

Show All Keywords

Keywords/Phrases

Search In:

Publication Years