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Proceedings Paper

Integration Of Model-Based Computer Vision And Robotic Planning
Author(s): W. J. Wolfe; D. Mathis; C. Weber; M. Magee
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Paper Abstract

A large class of man-made objects are characterized by a hierarchical composition consisting of geometric features, special markings and kinematics of movable parts. This hierarchy provides a natural algorithmic control structure that successively constrains the image processing, defining at each level the image region of interest and the significant patterns to be identified. A demonstration of this principle is provided in this paper using Task Panel images. The Task Panel has several movable doors, panels and latches. The model-based vision system determines the "state" of the Task Panel from a single input image. Furthermore, the vision system is integrated with a robot planning system that controls a T-3 746 manipulator as it performs simple tasks such as opening and closing doors on the Task Panel.

Paper Details

Date Published: 9 February 1989
PDF: 11 pages
Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949129
Show Author Affiliations
W. J. Wolfe, Martin Marietta Astronautics Group (United States)
D. Mathis, Martin Marietta Astronautics Group (United States)
C. Weber, Martin Marietta Astronautics Group (United States)
M. Magee, University of Wyoming (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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