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Proceedings Paper

Using Neighborhood Operators To Detect Graspable Inside And Outside Edges
Author(s): Robert B. Kelley; Philip R. Gouin
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Paper Abstract

A common industrial problem is to load and unload process machinery. A feasible solution to a large subset of this problem has been demonstrated using sensor-equipped robot systems. These systems combine both remotely and locally sensed data with heuristic analysis algorithms. These algorithms can successfully direct a robot to acquire a part from a jumbled heap. This paper presents a heuristic vision analysis algorithms which are based on neighborhood operators. The algorithms combine global characteristics and local matches to graspable inside or outside edge pairs, the pattern of a holdsite. The properties inherent to neighborhood operators permit smoothed local edge information to be extracted from images of the target class of parts.

Paper Details

Date Published: 9 June 1986
PDF: 10 pages
Proc. SPIE 0595, Computer Vision for Robots, (9 June 1986); doi: 10.1117/12.952241
Show Author Affiliations
Robert B. Kelley, Rensselaer Polytechnic Institute (United States)
Philip R. Gouin, Nestor Inc. (United States)

Published in SPIE Proceedings Vol. 0595:
Computer Vision for Robots
Olivier D. Faugeras; Robert B. Kelley, Editor(s)

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