3-D imaging systems and high-speed processing for robot control |
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Authors: | Robert M Lougheed Robert E Sampson |
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Affiliation: | (1) Image Processing Systems Division, Environmental Research Institute of Michigan (ERIM), P.O. Box 8618, 48107 Ann Arbor, MI, USA |
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Abstract: | Bin picking by a robot in real time requires the performance of a series of tasks that are beyond the capabilities of commercially available state-of-the-art robotic systems. In this paper, a laser-ranging sensor for real-time robot control is described. This sensor is incorporated into a robot system that has been applied to the bin-picking or random-parts problem. This system contains new technological components that have been developed recently at the Environmental Research Institute of Michigan (ERIM). These components (the 3-D imaging scanner and a recirculating cellular-array pipeline processor) make generalized real-time robot vision a practical and viable technology. This paper describes these components and their implementation in a typical real-time robot vision system application. |
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Keywords: | image processing 3-D sensor bin picking robot vision |
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