Object recognition system for a robot

Details Object recognition system for a robot Object recognition system for a robot

1989-02-01

1990-04-24

Boudreau, Leo H.

Image analysis

Histogram processing

For setting a threshold

382 25, 382 8, 382 53, G06K 920

Patent

active

049205722

ABSTRACT:
A method and a system for recognizing the location of a cylindrical shaft is provided for use in positioning an end effector of an industrial robot which handles said shaft. In the method and system, a multilevel gray image of the cylindrical shaft which is generated by a change coupled device (CCD) image sensor is first differentiated, and the absolute values of picture elements constituting the differentiated gray image are then binarized on the basis of a threshold value so as to extract an accentuated pattern image which is inherent to the shape of the cylindrical shaft. The accentuated pattern image thus extracted is then collated with a reference accentuated pattern image (template) so as to generate a normal curve signal which has its peak point at a position where the axis of said cylindrical shaft is located. The normal curve data is then binarized on the basis of another predetermined threshold value to generate a single strip image. The center of the single strip image is calculated to determine the location of the cylindrical shaft.

REFERENCES:
patent: 4644410 (1987-02-01), Schlichtig
patent: 4658193 (1987-04-01), Low
patent: 4747148 (1988-05-01), Watanabe et al.
patent: 4803735 (1989-02-01), Nishida et al.

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