Locating and Acquiring an Object In a Robot Workspace Using Multiple Stereo Images

R. E. Ellis

doi:10.1117/12.950835

11 December 1985 Locating and Acquiring an Object In a Robot Workspace Using Multiple Stereo Images

R. E. Ellis

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950835
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

Abstract

A method is presented for locating an object which is introduced into a well modelled robot workspace. A sparse, accurate depth map of the object can be found by examining images of the workspace captured prior to introduction of the object, extracting visual edges from the old and new images, and suppressing old edges by a window-correlation technique. The resulting features can be matched within the stereo pair. This focus-of-attention strategy yields points on the object which are sufficiently numerous and accurate that the object may be acquired by a robot gripper.

Citation Download Citation

R. E. Ellis "Locating and Acquiring an Object In a Robot Workspace Using Multiple Stereo Images", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950835

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