Hierarchical Chamfer Matching: A Parametric Edge Matching Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Fast computation of morphological operations with arbitrary structuring elements
Pattern Recognition Letters
Calibration and Orientation of Cameras in Computer Vision
Calibration and Orientation of Cameras in Computer Vision
Visual measurement and tracking in laser hybrid welding
Machine Vision and Applications
Painting robot with multi-fingered hands and stereo vision
Robotics and Autonomous Systems
Position-Based Visual Servoing in Industrial Multirobot Cells Using a Hybrid Camera Configuration
IEEE Transactions on Robotics
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A 2D-vision system is integrated into a drink-serving robotic cell, to enhance its flexibility. Two videocameras are used in a hybrid configuration scheme. The former is rigidly mounted on the robot end effector, the latter is fixed to the workplace. The robot cell is based on two Denso robots that interoperate to simulate real human tasks. Blob analysis, template matching and edge detection algorithms cooperate with motion procedures for fast object recognition and flexible adaptation to the environment. The paper details the system workflow, with particular emphasis to the vision procedures. The experimental results show their performance in terms of flexibility and robustness against defocusing, lighting conditions and noise.