A bin picking system based on depth from defocus |
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| Authors: | Ghita Ovidiu Whelan Paul F |
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| Affiliation: | (1) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland (e-mail: ghitao@eeng.dcu.ie, Tel.: +353-1-7005869, Fax: +353-1-7005508) , IE;(2) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland , IE |
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| Abstract: | It is generally accepted that to develop versatile bin-picking systems capable of grasping and manipulation operations, accurate
3-D information is required. To accomplish this goal, we have developed a fast and precise range sensor based on active depth from defocus (DFD). This sensor is used in conjunction with a three-component vision system, which is able to recognize and evaluate the
attitude of 3-D objects. The first component performs scene segmentation using an edge-based approach. Since edges are used
to detect the object boundaries, a key issue consists of improving the quality of edge detection. The second component attempts
to recognize the object placed on the top of the object pile using a model-driven approach in which the segmented surfaces
are compared with those stored in the model database. Finally, the attitude of the recognized object is evaluated using an
eigenimage approach augmented with range data analysis. The full bin-picking system will be outlined, and a number of experimental
results will be examined.
Received: 2 December 2000 / Accepted: 9 September 2001
Correspondence to: O. Ghita |
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| Keywords: | : Range sensor – Depth from defocus – Edge linking – Surface matching – Eigenimage analysis |
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