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Please use this identifier to cite or link to this item: http://dspace.unimap.edu.my:80/xmlui/handle/123456789/6835

Title: Object localization using stereo sensors for adept SCARA robot
Authors: Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Nagaran, R.
Sazali, Yaacob
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)
Citation: p.1-5
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
URI: http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4018810
ISBN: 1-4244-0024-4
Appears in Collections:Paulraj Murugesa Pandiyan, Prof. Dr.
Ramachandran, Nagarajan, Prof. Dr.
School of Mechatronic Engineering (Articles)
Sazali Yaacob, Prof. Dr.

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