Integration Of Model-Based Computer Vision And Robotic Planning

W. J. Wolfe; D. Mathis; C. Weber; M. Magee

doi:10.1117/12.949129

9 February 1989 Integration Of Model-Based Computer Vision And Robotic Planning

W. J. Wolfe, D. Mathis, C. Weber, M. Magee

Proceedings Volume 1008, Expert Robots for Industrial Use; (1989) https://doi.org/10.1117/12.949129
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

A large class of man-made objects are characterized by a hierarchical composition consisting of geometric features, special markings and kinematics of movable parts. This hierarchy provides a natural algorithmic control structure that successively constrains the image processing, defining at each level the image region of interest and the significant patterns to be identified. A demonstration of this principle is provided in this paper using Task Panel images. The Task Panel has several movable doors, panels and latches. The model-based vision system determines the "state" of the Task Panel from a single input image. Furthermore, the vision system is integrated with a robot planning system that controls a T-3 746 manipulator as it performs simple tasks such as opening and closing doors on the Task Panel.

Citation Download Citation

W. J. Wolfe, D. Mathis, C. Weber, and M. Magee "Integration Of Model-Based Computer Vision And Robotic Planning", Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); https://doi.org/10.1117/12.949129

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