Abstract
A 3-D vision system designed to enable automatic acquisition of mechanical parts in a bin by means of an assembly robot is presented. Hardware cost is kept low by using standardised parts: a microcomputer, a frame grabber, a translating table and one or two video cameras. Yet versatility is preserved and real time industrial rate is achieved. A very fast recognition method has been designed which is based on local features of the objects to be identified in the bin and metric information. Early processing steps avoid lengthy treatments such as systematic edge detection. Rather a few local features are firstly identified in an image in order to achieve a rough estimate of the correspondence between an object in the bin and a stored model of the same object. This correspondence is then confirmed and refined iteratively. Depth information is obtained by stereoscopy. An experiment involving the acquisition of snubber valves is presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
N. J. Ayache et A. Darmon, Reconnaissance récursive et localization de formes planes partiellement visibles dans une image, 9o Colloque GRETSI, Nice 1983.
C. M. Brown, Inherent bias and noise in the Hough Transform, IEEE Trans, on PAMI-5 n°5, sept. 1983, p. 493–505.
S. Clerc, Algorithmes de localisation et de reconnaissance de pièces partiellement cachées, dans un contexte de vrac volumique. Memoire ingenieur CNAM. Belfort 1985.
P. V. C. Hough, Method and Means for Recognizing Complex Patterns, U.S. Patent 3069654, 1962.
L. Hungwen, M. A. Lavin and R. J. Le Master, Fast Hough Transform: A Hierarchical Approach, CVGIP vol. 36 (1986) pp. 139–161.
D. Marr, Vision, W. H. Freeman & Co. New York(1982).
E. G. Ramo, and J. Salminen, An experimental study of low Cost Image Workstation Architectures.in: Proc. 8th ICPR Paris Oct. 1986 pp. 34–37.
K. R. Sloan, Jr, Dynamically quantized pyramid, in Proc. 7th IJCAI, pp. 734–736.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1988 Plenum Press, New York
About this chapter
Cite this chapter
Poulenard, M., Stamon, G. (1988). A Low Cost 3-D Vision System for Robotic Assembly. In: Cantoni, V., Di Gesù, V., Levialdi, S. (eds) Image Analysis and Processing II. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-1007-5_46
Download citation
DOI: https://doi.org/10.1007/978-1-4613-1007-5_46
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4612-8289-1
Online ISBN: 978-1-4613-1007-5
eBook Packages: Springer Book Archive