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Object localization using stereo sensors for adept SCARA robot

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Main Authors: Hema, Chengalvarayan Radhakrishnamurthy, Paulraj, Murugesapandian, Nagaran, R., Sazali, Yaacob
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2009
Subjects:
Bin picking
Neural networks
Object localization
Segmentation
Stereo vision
Control engineering computing
Robot vision
Robotics
Image sensors
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/6835
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spelling my.unimap-68352009-12-11T04:10:34Z Object localization using stereo sensors for adept SCARA robot Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Nagaran, R. Sazali, Yaacob Bin picking Neural networks Object localization Segmentation Stereo vision Control engineering computing Robot vision Robotics Image sensors Link to publisher's homepage at http://ieeexplore.ieee.org In this paper we present a stereo vision system for segmentation of partially occluded objects and computation of object grasping point in bin picking environments. The stereo vision system was interfaced with an Adept SCARA Robot to perform bin picking operations. Most researches on bin picking involve combination of vision and force sensors, however in this research an attempt is made to develop a bin picking system using only vision sensors for bin pick and place operation. An algorithm to segment partially occluded objects is proposed. The proposed stereo vision system was found to be effective for partially occluded objects and in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot. 2009-08-11T08:45:41Z 2009-08-11T08:45:41Z 2006 Article p.1-5 1-4244-0024-4 http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4018810 http://hdl.handle.net/123456789/6835 en Proceedings of IEEE Conference on Robotics, Automation and Mechatronics 2006 Institute of Electrical and Electronics Engineers (IEEE)
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 Bin picking
Neural networks
Object localization
Segmentation
Stereo vision
Control engineering computing
Robot vision
Robotics
Image sensors
spellingShingle Bin picking
Neural networks
Object localization
Segmentation
Stereo vision
Control engineering computing
Robot vision
Robotics
Image sensors
Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Nagaran, R.
Sazali, Yaacob
Object localization using stereo sensors for adept SCARA robot
description Link to publisher's homepage at http://ieeexplore.ieee.org
format Article
author Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Nagaran, R.
Sazali, Yaacob
author_facet Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Nagaran, R.
Sazali, Yaacob
author_sort Hema, Chengalvarayan Radhakrishnamurthy
title Object localization using stereo sensors for adept SCARA robot
title_short Object localization using stereo sensors for adept SCARA robot
title_full Object localization using stereo sensors for adept SCARA robot
title_fullStr Object localization using stereo sensors for adept SCARA robot
title_full_unstemmed Object localization using stereo sensors for adept SCARA robot
title_sort object localization using stereo sensors for adept scara robot
publisher Institute of Electrical and Electronics Engineers (IEEE)
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/6835
_version_ 1643788609384349696
score 13.214268

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