A Low Cost 3-D Vision System for Robotic Assembly
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.
KeywordsLocal Feature Hardware Cost Stereo Pair Hough Transform Hardware Configuration
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