Segmentation and location computation of bin objects

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Main Authors: Hema, Chengalvarayan Radhakrishnamurthy, Paulraj, Murugesapandian, Ramachandran, Nagarajan, Sazali, Yaacob
Format: Article
Language:English
Published: Ars International 2009
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Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/6850
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spelling my.unimap-68502009-12-11T04:06:46Z Segmentation and location computation of bin objects Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob Bin picking Neural networks Object localization Radial basisfunction nets Segmentation Stereo vision Neural networks (Computer science) Vision http://ezproxy.unimap.edu.my:2081/source/sourceInfo.url?sourceId=144749 In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find the object location [midpoint,x, y and z co-ordinates] with respect to the bin area are proposed. The z co-ordinate is computed using stereo images and neural networks. The proposed algorithms is tested using two neural network architectures namely the Radial Basis Function nets and Simple Feedforward nets. The training results fo feedforward nets are found to be more suitable for the current application.The proposed stereo vision system is interfaced with an Adept SCARA Robot to perform bin picking operations. The vision system is found to be effective for partially occluded objects, in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot. 2009-08-12T06:52:29Z 2009-08-12T06:52:29Z 2007 Article International Journal of Advanced Robotic Systems, vol.4 (1), 2007, pages 57-62. 1729-8806 http://intechweb.org/volume.php?issn=1729-8806&v=4&n=1 http://hdl.handle.net/123456789/6850 en Ars International
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
Radial basisfunction nets
Segmentation
Stereo vision
Neural networks (Computer science)
Vision
spellingShingle Bin picking
Neural networks
Object localization
Radial basisfunction nets
Segmentation
Stereo vision
Neural networks (Computer science)
Vision
Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
Segmentation and location computation of bin objects
description http://ezproxy.unimap.edu.my:2081/source/sourceInfo.url?sourceId=144749
format Article
author Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
author_facet Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
author_sort Hema, Chengalvarayan Radhakrishnamurthy
title Segmentation and location computation of bin objects
title_short Segmentation and location computation of bin objects
title_full Segmentation and location computation of bin objects
title_fullStr Segmentation and location computation of bin objects
title_full_unstemmed Segmentation and location computation of bin objects
title_sort segmentation and location computation of bin objects
publisher Ars International
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/6850
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score 13.209306