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Stereo vision based robotic bin picking system for agile manufacturing

Organized by Faculty of Electrical Engineering, Universiti Teknologi Malaysia (UTM), 2nd - 3rd June 2009 at Malacca, Malaysia.

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Bibliographic Details
Main Authors: Fathinul-Syahir, Ahmad Sa'ad, Hazry, Desa, Dr., Muhammad Juhairi Aziz, Safar
Other Authors: fathinul@unimap.edu.my
Format: Working Paper
Language:English
Published: Universiti Teknologi Malaysia (UTM) 2011
Subjects:
Robotic technology
Vision technology
Stereo vision
Segmentation
Stereo image processing
Neural networks
Bin Picking Robots (BPR)
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/15094
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spelling my.unimap-150942011-10-27T07:24:28Z Stereo vision based robotic bin picking system for agile manufacturing Fathinul-Syahir, Ahmad Sa'ad Hazry, Desa, Dr. Muhammad Juhairi Aziz, Safar fathinul@unimap.edu.my Robotic technology Vision technology Stereo vision Segmentation Stereo image processing Neural networks Bin Picking Robots (BPR) Organized by Faculty of Electrical Engineering, Universiti Teknologi Malaysia (UTM), 2nd - 3rd June 2009 at Malacca, Malaysia. This research aims at conducting a fundamental analysis on developing a stereo vision system for an industrial robot to perform bin picking operations similar to a human way of bin picking.A Vision System and a set of artificial intelligence software can provide these capabilities to a robot to operate independently. The vision sensors of the robot capture the image of an object from among jumbled objects in a bin. The vision system analyses and processes the images to identify the top most object and computes its (X,Y,Z) co-ordinates. In bin picking applications, robots are required to pick up an object from a pile of stacked or scattered objects placed in a bin. To perform such tasks, identification of the objects to be picked using a vision system is indispensable. The proposed bin picking process consists of two modules namely object segmentation module and object localization module. In the segmentation module, Fourier descriptor algorithm is proposed for segmentation of topmost object and in the localization module, the location of the object is estimated by computing the 'x\ 'y', 'z'co-ordinates of the object midpoint using a unified stereo imaging algorithm. 2011-10-27T07:24:28Z 2011-10-27T07:24:28Z 2009-06-02 Working Paper http://hdl.handle.net/123456789/15094 en Proceedings of the 2nd International Conference on Control, Instrumentation and Mechatronic Engineering (CIM 2009) Universiti Teknologi Malaysia (UTM) Faculty of Electrical Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Robotic technology
Vision technology
Stereo vision
Segmentation
Stereo image processing
Neural networks
Bin Picking Robots (BPR)
spellingShingle Robotic technology
Vision technology
Stereo vision
Segmentation
Stereo image processing
Neural networks
Bin Picking Robots (BPR)
Fathinul-Syahir, Ahmad Sa'ad
Hazry, Desa, Dr.
Muhammad Juhairi Aziz, Safar
Stereo vision based robotic bin picking system for agile manufacturing
description Organized by Faculty of Electrical Engineering, Universiti Teknologi Malaysia (UTM), 2nd - 3rd June 2009 at Malacca, Malaysia.
author2 fathinul@unimap.edu.my
author_facet fathinul@unimap.edu.my
Fathinul-Syahir, Ahmad Sa'ad
Hazry, Desa, Dr.
Muhammad Juhairi Aziz, Safar
format Working Paper
author Fathinul-Syahir, Ahmad Sa'ad
Hazry, Desa, Dr.
Muhammad Juhairi Aziz, Safar
author_sort Fathinul-Syahir, Ahmad Sa'ad
title Stereo vision based robotic bin picking system for agile manufacturing
title_short Stereo vision based robotic bin picking system for agile manufacturing
title_full Stereo vision based robotic bin picking system for agile manufacturing
title_fullStr Stereo vision based robotic bin picking system for agile manufacturing
title_full_unstemmed Stereo vision based robotic bin picking system for agile manufacturing
title_sort stereo vision based robotic bin picking system for agile manufacturing
publisher Universiti Teknologi Malaysia (UTM)
publishDate 2011
url http://dspace.unimap.edu.my/xmlui/handle/123456789/15094
_version_ 1643790905868550144
score 13.214268

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