The acquisition of assembly skills by robots is greatly supported by the efective use of contact force sensing and object recognition vision systems. In this paper, we describe the ability to invariantly recognize assembly parts at different scale, rotation and orientation within the work space. The paper shows a methodology for on-line recognition and classification of pieces in robotic assembly tasks and its application into an intelligent manufacturing cell. The performance of industrial robots working in unstructured environments can be improved using visual perception and learning techniques. In this sense, the described technique for object recognition is accomplished using an Artificial Neural Network (ANN) architecture which receives a descriptive vector called CFD&POSE as the input. This vector represents an innovative methodology for classification and identification of pieces in robotic tasks. The vector compresses 3D object data from assembly parts and it is invariant to scale, rotation and orientation, and it also supports a wide range of illumination levels. The approach in combination with the fast learning capability of ART networks indicates the suitability for industrial robot applications as it is demonstrated through experimental results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Invariant Object Recognition Robot Vision System for Assembly


    Beteiligte:
    Pena, M. (Autor:in) / Lopez, I. (Autor:in) / Osorio, R. (Autor:in)


    Erscheinungsdatum :

    01.09.2006


    Format / Umfang :

    511728 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A neuromorphic vision system for invariant learning and recognition

    Seibert, Michael / Waxman, Allen M. | TIBKAT | 1988


    Fuzzy recognition and object-capture algorithm for robot vision systems

    Rongying, H. | British Library Online Contents | 2009


    Orientation invariant features for multiclass object recognition

    Villamizar, Michael / Sanfeliu, Alberto / Andrade-Cetto, Juan | BASE | 2006

    Freier Zugriff

    Vision based Object Recognition of E-Puck Mobile Robot for Warehouse Application

    S. Guzel, Mehmet / Erwin, John / Wan Zakaria, Wan Nurshazwani | BASE | 2015

    Freier Zugriff

    Comparison of Invariant Descriptors for Object Recognition

    Choksuriwong, A. / Laurent, H. / Emile, B. | British Library Conference Proceedings | 2005