A method of real-time recognition of moving objects and its application

A simple method of real-time recognition of moving objects, as well as its theoretical basis are described. This method utilizes a TV camera to pick up image signals from an object moving in the horizontal scan direction. The shape and position of the object are detected at every vertical scanning period by using the information from a few window-like image portions each consisting of four sub-areas. This method is succesfully applied as an electronic eye to a bolting robot used for concrete pile/pole manufacture.