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Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot

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Bibliographic Details
Main Authors: Hema, Chengalvarayan Radhakrishnamurthy, Paulraj, Murugesapandian, Ramachandran, Nagarajan, Sazali, Yaacob
Other Authors: hema@unimap.edu.my
Format: Article
Language:English
Published: Universiti Malaysia Perlis 2010
Subjects:
SCARA Robot
Robotics
Robots > Design and construction
Stereo vision
Robot vision
Image sensors
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7442
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spelling my.unimap-74422010-01-01T03:15:56Z Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot Hema, Chengalvarayan Radhakrishnamurthy Paulraj, Murugesapandian Ramachandran, Nagarajan Sazali, Yaacob hema@unimap.edu.my SCARA Robot Robotics Robots -- Design and construction Stereo vision Robot vision Image sensors Link to publisher's homepage at http://www.unimap.edu.my/ In this paper we present a stereo vision system for segmentation of partially occluded objects and computation of object grasping point in bin picking environments. The stereo vision system was interfaced with an Adept SCARA Robot to perform bin picking operations. Most researches on bin picking involve combination of vision and force sensors, however in this research an attempt is made to develop a bin picking system using only vision sensors for bin pick and place operation. An algorithm to segment partially occluded objects is proposed. The proposed stereo vision system was found to be effective for partially occluded objects and in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot. 2010-01-01T03:15:56Z 2010-01-01T03:15:56Z 2007 Article Journal of Engineering Research and Education, vol. 4, 2007, pages 11-19. 1823-2981 http://www.unimap.edu.my/ http://hdl.handle.net/123456789/7442 en Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic SCARA Robot
Robotics
Robots -- Design and construction
Stereo vision
Robot vision
Image sensors
spellingShingle SCARA Robot
Robotics
Robots -- Design and construction
Stereo vision
Robot vision
Image sensors
Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
description Link to publisher's homepage at http://www.unimap.edu.my/
author2 hema@unimap.edu.my
author_facet hema@unimap.edu.my
Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
format Article
author Hema, Chengalvarayan Radhakrishnamurthy
Paulraj, Murugesapandian
Ramachandran, Nagarajan
Sazali, Yaacob
author_sort Hema, Chengalvarayan Radhakrishnamurthy
title Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
title_short Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
title_full Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
title_fullStr Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
title_full_unstemmed Stereo Sensors-based Object Segmentation and Location for a Bin Picking Adept SCARA Robot
title_sort stereo sensors-based object segmentation and location for a bin picking adept scara robot
publisher Universiti Malaysia Perlis
publishDate 2010
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7442
_version_ 1643788827534295040
score 13.211869

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