Hough-space-based object recognition tightly coupled with path planning for robust and fast bin-picking

Ayako Takenouchi, Naoyoshi Kanamaru, Makoto Mizukawa

研究成果: Paper

9 引用 (Scopus)

抜粋

The proposed bin-picking method combines object recognition with path planning. To avoid conflicts between the assumptions of the elemental techniques needed for bin-picking, object recognition is combined with path planning by using environmental information. To achieve this combination, a Hough transform, which records the model-to-image matches in a Hough space, is used to estimate the pose. The matches represent the arrangement of the objects, so they can be regarded as environmental information for path planning. To reduce the number of recognition errors and the object-detection time, a pair of object features that reduces the number of invalid votes in the Hough space is used for the Hough transform. Simulated path planning showed that using a Hough space to represent the environmental information improves the ability to plan a safe path for the manipulator. Simulated object recognition showed that using a pair of features makes the process faster and reduces the number of invalid votes. The pose estimation and safe path planning ability were confirmed by an experiment on casting objects using a range finder and a robot.

元の言語English
ページ1222-1229
ページ数8
出版物ステータスPublished - 1998 12 1
イベントProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
継続期間: 1998 10 131998 10 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
Victoria, Can
期間98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • これを引用

    Takenouchi, A., Kanamaru, N., & Mizukawa, M. (1998). Hough-space-based object recognition tightly coupled with path planning for robust and fast bin-picking. 1222-1229. 論文発表場所 Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .