Visual robot guidance for an insertion task

Dorin Ungureanu; Luc J. Van Gool; Theo Moons; Andre J. Oosterlinck

doi:10.1117/12.216433

11 August 1995 Visual robot guidance for an insertion task

Dorin Ungureanu, Luc J. Van Gool, Theo Moons, Andre J. Oosterlinck

Proceedings Volume 2573, Vision Geometry IV; (1995) https://doi.org/10.1117/12.216433
Event: SPIE's 1995 International Symposium on Optical Science, Engineering, and Instrumentation, 1995, San Diego, CA, United States

Abstract

Vision algorithms are proposed for an automated robot assembly task. The goal is to insert cylindrical objects with arbitrary cross-section shapes into narrowly matching holes. Scenes have variable compositions and the viewpoint of the camera is rather arbitrary. An affinely invariant shape description is used to compare inflection bounded segments of the image contours with similar segments describing a set of shapes in a model database. The comparison is a simple distance calculation between invariant segment signatures following a crude index-based preselection procedure. Once all matching image-model segment pairs have been found, they are grouped into complete model instances found in the image, by a consistency check algorithm. The typical shapes considered have no salient features, which moreover are small in number. This complicates the task of robust recognition. Besides recognition, the determination of object pose and position is described. A new method for determining camera focal length using image features is presented. Experimental results are discussed.

Citation Download Citation

Dorin Ungureanu, Luc J. Van Gool, Theo Moons, and Andre J. Oosterlinck "Visual robot guidance for an insertion task", Proc. SPIE 2573, Vision Geometry IV, (11 August 1995); https://doi.org/10.1117/12.216433

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