Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping
Hao Guo; Han Xiao; Shijun Wang; Wenhao He; Kui Yuan
2015-08
会议名称2015 IEEE International Conference on Mechatronics and Automation
会议录名称Proceedings of 2015 IEEE International Conference on Mechatronics and Automation
页码1691-1696
会议日期August 2-5, 2015
会议地点Beijing, China
摘要In this paper, a real-time machine vision system is designed for an industrial robot to grasp from an assembly line a class of machine parts which are similar in the general shape but different in details. In order to get real-time performance, the system is implemented on an embedded image card with an FPGA (Field Programming Gate Array) accelerating the computation. The method can be divided into two stages. First, the holes and edges of the machine parts are detected from each frame with the FPGA. Then a DSP (Digital Signal Processor) chip on the image card performs the rest of the computation by identifying the location and type of each of the machine parts in the image based on the information of all the holes and edges. A rotationally adaptive edge-based template matching technique is used in our method, which not only reduces the amount of computation but also provides robustness against illumination changes. Experiments demonstate that the machine parts can be located accurately under arbitrary in-plane rotations and can be classified correctly according to the details in their shapes. Our system can run with an industrial camera at a resolution of 640×480 and a speed of 50 fps (frames per second) or higher.
关键词Machine Vision Object Recognition Fpga Embedded System Industrial Robot
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/10350
专题智能制造技术与系统研究中心_智能机器人
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Hao Guo,Han Xiao,Shijun Wang,et al. Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping[C],2015:1691-1696.
条目包含的文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
3.0 Real-time Detect(1162KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Hao Guo]的文章
[Han Xiao]的文章
[Shijun Wang]的文章
百度学术
百度学术中相似的文章
[Hao Guo]的文章
[Han Xiao]的文章
[Shijun Wang]的文章
必应学术
必应学术中相似的文章
[Hao Guo]的文章
[Han Xiao]的文章
[Shijun Wang]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 3.0 Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。