A Stereo Vision System for Position Measurement and Recognition in an Autonomous Robotic System for - Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International

This paper describes a practical stereo vision system for position measurement and recognition in an autonomous food-tray-carrying robot. Our food tray carrying robot delivers and collects food trays in medical care facilities. The vision system must position and recognize tables and trays for the robot to manipulate the trays. We have developed edge detectin techniques for the measurement of target objects t L t vary in terms of rightness using correlation operations. We fabricated a compact environmental perce tion unit using a real-time image correlation processor t h e Color Trackin Vision) and had it installed on the food carrying roiot. Tray delivery and collection experiments in a simulated environment show that the umt can position the tables and the food trays accurately enough to mani ulate the trays in varying degrees of brightness (60 to 7280 lx) using video images from a pair of stereo cameras installed on the gripper of the manipulator.