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|Title: ||Object localization using stereo sensors for adept SCARA robot|
|Authors: ||Hema, Chengalvarayan Radhakrishnamurthy|
|Keywords: ||Bin picking;Neural networks;Object localization;Segmentation;Stereo vision;Control engineering computing;Robot vision;Robotics;Image sensors|
|Issue Date: ||2006|
|Publisher: ||Institute of Electrical and Electronics Engineers (IEEE)|
|Series/Report no.: ||Proceedings of IEEE Conference on Robotics, Automation and Mechatronics 2006|
|Abstract: ||In this paper we present a stereo vision system for segmentation of partially occluded objects and computation of object grasping point in bin picking environments. The stereo vision system was interfaced with an Adept SCARA Robot to perform bin picking operations. Most researches on bin picking involve combination of vision and force sensors, however in this research an attempt is made to develop a bin picking system using only vision sensors for bin pick and place operation. An algorithm to segment partially occluded objects is proposed. The proposed stereo vision system was found to be effective for partially occluded objects and in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot.|
|Description: ||Link to publisher's homepage at http://ieeexplore.ieee.org|
|Appears in Collections:||School of Mechatronic Engineering (Articles)|
Ramachandran, Nagarajan, Prof. Dr.
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