Range Image Processing for Bin-Picking of Curved Object
نویسندگان
چکیده
This paper describes a model based robot vision system for bin-picking of curved object utilizing range images. Surface properties and 3-D shape of the object are derived from the range image. This system extracts an object and detects its location and orientation based on models. The object is to be represented by a set of quadric curved surfaces. The Gaussian and the mean curvature are used as the local measure of the surface shape. In this work, workpieces are mainly composed of cylindrical surfaces such as pipe-joints. Models are defined as a list of cylindrical surfaces and their relationships. The object of the specified type is detected in the scene. Cylindrical components are extracted from the segmented regions. They are compared with models, the type and the pose of the object are obtained, and then the gripping point is determined from the model.
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