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Proceedings Paper

Vision-Based Object Recognition And Acquisition
Author(s): L. Van Gool; P. Vermeyen; A. Oosterlinck
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Paper Abstract

A vision guided robot work station is described, which is able to track and grasp objects moving on a conveyor belt. The vision algorithms are implemented on a ICOS 20000 Vision Computer. The Unimation Puma 560 robot running under VAL II offers the possibility of real-time path control. All movements are under guidance of the vision computer without any default path being programmed. Via a serial link, continuous updates for position and velocity are given, until the robot arm is correctly positioned above the object. A M68000 microprocessor based interface establishes the necessary protocols for robot - image computer communication. It also minimizes the length of the messages and takes time delays into account. The underlying vision algorithms are based on multi-resolution curvature measures for the object contours. These contours are first encoded with the "reduced generalized chain code". The vision system includes an automated modelling facility and preliminary algorithms for the generation of optimal recognition strategies. In order to accelerate recognition and localization, the concept of feature saliency was adopted.

Paper Details

Date Published: 27 March 1987
PDF: 8 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937742
Show Author Affiliations
L. Van Gool, University of Leuven (Belgium)
P. Vermeyen, University of Leuven (Belgium)
A. Oosterlinck, University of Leuven (Belgium)

Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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