Fast ellipse detection via gradient information for robotic manipulation of cylindrical objects

• Main Authors: Dong, Huixu, Sun, Guangbin, Pang, Wee-Ching, Asadi, Ehsan, Prasad, Dilip Kumar, Chen, I-Ming
• Other Authors: School of Computer Science and Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Computer science and engineering; Grasping; Perception for Grasping and Manipulation
• Online Access: https://hdl.handle.net/10356/140260
• Institution: Nanyang Technological University

Robotic manipulation of objects requires a fast recognition from image stream. For many cylindrical object (e.g., cans, cups, pipes, bottles, etc.) this is possible through detection of ellipse depicting the circular top of the cylinder. Growing industrial and warehouse applications of robots drive...