Segmentation and location computation of bin objects
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Ars International
2009
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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 |
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Universiti Malaysia Perlis |
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| language |
English |
| topic |
Bin picking Neural networks Object localization Radial basisfunction nets Segmentation Stereo vision Neural networks (Computer science) Vision |
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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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1643788610971893760 |
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13.214268 |