Accession Number : ADA133631

Title :   Picking up an Object from a Pile of Objects.

Descriptive Note : Memorandum rept.,


Personal Author(s) : Ikeuchi,Katsushi ; Horn,Berthold K P ; Nagata,Shigemi ; Callahan,Tom ; Feingold,Oded

PDF Url : ADA133631

Report Date : May 1983

Pagination or Media Count : 29

Abstract : This paper describes a hand-eye system we developed to perform the bin-picking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo method generates the surface normal distribution of a scene. The extended Gaussian image allows us to determine the attitude of the object based on the normal distribution. visual analysis of an image consists of two stages. The first stage segments the image into regions and determines the target region.The photometric stereo system provides the surface normal distribution of the scene. The sytem segments the scene into isolated regions using ghe surface normal distribution rathan than the brightness distribuiton. The second stage determines the object attitude and position by comparing the surface normal distribution with the extended-Gaussian-image. Fingers, with LED sensor, mounted on the PUMA arm can successfully pick an object from a pile based on the information from the vision part. (Author)

Descriptors :   *Robots, *Robotics, Computer logic, Artificial intelligence, Image processing, Visual aids, Guidance, Perception, Shape, Three dimensional, Automation, Pattern recognition, Target acquisition, Orientation(Direction)

Subject Categories : Human Factors Engineering & Man Machine System

Distribution Statement : APPROVED FOR PUBLIC RELEASE