A massively parallel architecture for a self-organizing neural pattern recognition machine
Computer Vision, Graphics, and Image Processing
Highly parallel, hierarchical, recognition cone perceptual structures
Parallel computer vision
Knowledge-based artificial neural networks
Artificial Intelligence
A Learning Approach for On Line Object Recognition Tasks
ENC '04 Proceedings of the Fifth Mexican International Conference in Computer Science
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This paper shows a methodology for on-line recognition and classification of pieces in robotic assembly tasks and its application into an intelligent manufacturing cell. The performance of industrial robots working in unstructured environments can be improved using visual perception and learning techniques. The object recognition is accomplished using an Artificial Neural Network (ANN) architecture which receives a descriptive vector called CFD&POSE as the input. This vector represents an innovative methodology for classification and identification of pieces in robotic tasks, every stage of the methodology is described and the proposed algorithms explained. The vector compresses 3D object data from assembly parts and it is invariant to scale, rotation and orientation, and it also supports a wide range of illumination levels. The approach in combination with the fast learning capability of ART networks indicates the suitability for industrial robot applications as it is demonstrated through experimental results.