Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
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Universiti Malaysia Perlis
2010
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my.unimap-74422010-01-01T03:15:56Z Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob hema@unimap.edu.my SCARA Robot Robotics Robots -- Design and construction Stereo vision Robot vision Image sensors Link to publisher's homepage at http://www.unimap.edu.my/ 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. 2010-01-01T03:15:56Z 2010-01-01T03:15:56Z 2007 Article Journal of Engineering Research and Education, vol. 4, 2007, pages 11-19. 1823-2981 http://www.unimap.edu.my/ http://hdl.handle.net/123456789/7442 en Universiti Malaysia Perlis |
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SCARA Robot Robotics Robots -- Design and construction Stereo vision Robot vision Image sensors |
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SCARA Robot Robotics Robots -- Design and construction Stereo vision Robot vision Image sensors Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
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Link to publisher's homepage at http://www.unimap.edu.my/ |
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hema@unimap.edu.my |
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hema@unimap.edu.my Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob |
| format |
Article |
| author |
Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob |
| author_sort |
Hema, Chengalvarayan Radhakrishnamurthy |
| title |
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
| title_short |
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
| title_full |
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
| title_fullStr |
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
| title_full_unstemmed |
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot |
| title_sort |
stereo sensors-based object segmentation and location for a bin picking adept scara robot |
| publisher |
Universiti Malaysia Perlis |
| publishDate |
2010 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/7442 |
| _version_ |
1643788827534295040 |