FST-based active object recognition for automated assembly

Michael A. Sipe; David P. Casasent

doi:10.1117/12.360284

26 August 1999 FST-based active object recognition for automated assembly

Michael A. Sipe, David P. Casasent

Proceedings Volume 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision; (1999) https://doi.org/10.1117/12.360284
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

We demonstrate the use of our active object recognition algorithms in a mechanical assembly task. The algorithms are used to classify and estimate the pose of parts of the assembly in different stable rest positions and automatically re-position the camera if the class or pose of an object is ambiguous in a given image. Multiple object views are used in determining both the final object class and pose estimate. The FSTs are analyzed off-line to determine the camera positions that best resolve ambiguities. We also describe methods for rejecting untrained objects and adding new parts to an existing set of FSTs using a new feature update method.

Citation Download Citation

Michael A. Sipe and David P. Casasent "FST-based active object recognition for automated assembly", Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); https://doi.org/10.1117/12.360284

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