中国科学院自动化研究所机构知识库
Advanced  
CASIA OpenIR  > 智能制造技术与系统研究中心  > 智能机器人团队  > 会议论文
题名: Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping
作者: Guo Hao(郭浩)1; Han Xiao(肖晗)1; Wang Shijun(王士军)1; Wenhao He1; Kui Yuan1
出版日期: 2015-08
会议名称: 2015 IEEE International Conference on Mechatronics and Automation
会议日期: August 2-5, 2015
会议地点: Beijing, China
关键词: Machine Vision ; Object Recognition ; FPGA ; Embedded System ; Industrial Robot
英文摘要: 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.
收录类别: EI
会议录: Proceedings of 2015 IEEE International Conference on Mechatronics and Automation
语种: 英语
页码: 1691-1696
内容类型: 会议论文
URI标识: http://ir.ia.ac.cn/handle/173211/10350
Appears in Collections:智能制造技术与系统研究中心_智能机器人团队_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
3.0 Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping.pdf(1162KB)会议论文--开放获取View Download

作者单位: 1.中国科学院自动化研究所

Recommended Citation:
Hao Guo,Han Xiao,Shijun Wang,et al. Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping[C]. 见:2015 IEEE International Conference on Mechatronics and Automation. Beijing, China. August 2-5, 2015.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Hao Guo]'s Articles
[Han Xiao]'s Articles
[Shijun Wang]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Hao Guo]‘s Articles
[Han Xiao]‘s Articles
[Shijun Wang]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
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
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院自动化研究所 - Feedback
Powered by CSpace