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Proceedings Paper

Locating and Acquiring an Object In a Robot Workspace Using Multiple Stereo Images
Author(s): R. E. Ellis
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Paper Abstract

A method is presented for locating an object which is introduced into a well modelled robot workspace. A sparse, accurate depth map of the object can be found by examining images of the workspace captured prior to introduction of the object, extracting visual edges from the old and new images, and suppressing old edges by a window-correlation technique. The resulting features can be matched within the stereo pair. This focus-of-attention strategy yields points on the object which are sufficiently numerous and accurate that the object may be acquired by a robot gripper.

Paper Details

Date Published: 11 December 1985
PDF: 10 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950835
Show Author Affiliations
R. E. Ellis, University of Massachusetts (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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