Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping
文献类型：会议论文
| 作者 | Hao Guo ; Han Xiao; Shijun Wang; Wenhao He; Kui Yuan
|
| 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 |
| 页码 | 1691-1696 |
| 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 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/10350]  |
| 专题 | 自动化研究所_智能制造技术与系统研究中心_智能机器人团队 |
| 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]. 见:2015 IEEE International Conference on Mechatronics and Automation. Beijing, China. August 2-5, 2015. |
入库方式： OAI收割
来源：自动化研究所
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