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Proceedings Paper

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation
Author(s): Mohan M. Trivedi; ChuXin Chen; Suresh Marapane
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Paper Abstract

Vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. Vision systems are uti-lized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful for tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed.

Paper Details

Date Published: 9 February 1989
PDF: 7 pages
Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949128
Show Author Affiliations
Mohan M. Trivedi, The University orTennessee (United States)
ChuXin Chen, The University orTennessee (United States)
Suresh Marapane, The University orTennessee (United States)

Published in SPIE Proceedings Vol. 1008:
Expert Robots for Industrial Use
David P. Casasent; Ernest L. Hall; Kenneth J. Stout, Editor(s)

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