Object localization using stereo sensors for adept SCARA robot
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Institute of Electrical and Electronics Engineers (IEEE)
2009
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my.unimap-68352009-12-11T04:10:34Z Object localization using stereo sensors for adept SCARA robot Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Nagaran, R. Sazali, Yaacob Bin picking Neural networks Object localization Segmentation Stereo vision Control engineering computing Robot vision Robotics Image sensors Link to publisher's homepage at http://ieeexplore.ieee.org In this paper we present a stereo vision system for segmentation of partially occluded objects and computation of object grasping point in bin picking environments. The stereo vision system was interfaced with an Adept SCARA Robot to perform bin picking operations. Most researches on bin picking involve combination of vision and force sensors, however in this research an attempt is made to develop a bin picking system using only vision sensors for bin pick and place operation. An algorithm to segment partially occluded objects is proposed. The proposed stereo vision system was found to be effective for partially occluded objects and in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot. 2009-08-11T08:45:41Z 2009-08-11T08:45:41Z 2006 Article p.1-5 1-4244-0024-4 http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4018810 http://hdl.handle.net/123456789/6835 en Proceedings of IEEE Conference on Robotics, Automation and Mechatronics 2006 Institute of Electrical and Electronics Engineers (IEEE) |
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Universiti Malaysia Perlis |
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| language |
English |
| topic |
Bin picking Neural networks Object localization Segmentation Stereo vision Control engineering computing Robot vision Robotics Image sensors |
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Bin picking Neural networks Object localization Segmentation Stereo vision Control engineering computing Robot vision Robotics Image sensors Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Nagaran, R. Sazali, Yaacob Object localization using stereo sensors for adept SCARA robot |
| description |
Link to publisher's homepage at http://ieeexplore.ieee.org |
| format |
Article |
| author |
Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Nagaran, R. Sazali, Yaacob |
| author_facet |
Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Nagaran, R. Sazali, Yaacob |
| author_sort |
Hema, Chengalvarayan Radhakrishnamurthy |
| title |
Object localization using stereo sensors for adept SCARA robot |
| title_short |
Object localization using stereo sensors for adept SCARA robot |
| title_full |
Object localization using stereo sensors for adept SCARA robot |
| title_fullStr |
Object localization using stereo sensors for adept SCARA robot |
| title_full_unstemmed |
Object localization using stereo sensors for adept SCARA robot |
| title_sort |
object localization using stereo sensors for adept scara robot |
| publisher |
Institute of Electrical and Electronics Engineers (IEEE) |
| publishDate |
2009 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/6835 |
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1643788609384349696 |