{"title":"A handling system for randomly placed casting parts using plane fitting technique","authors":"T. Onda, H. Igura, M. Niwakawa","doi":"10.1109/IROS.1995.525921","DOIUrl":null,"url":null,"abstract":"We have developed a vision-based robotic handling system, especially for casting parts. To locate an object, we have focused on identifying its reference plane. The system uses a two-dimensional matching technique to recognize an object and stereo ranging to measure its heights, and then applies a plane fitting technique to decide the three-dimensional orientations. The system can recognize a randomly placed casting part resting on a supported plane such as a conveyer belt even when it is tilted or piled on other parts. This paper describes the system and presents some experimental results.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1995.525921","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 10
Abstract
We have developed a vision-based robotic handling system, especially for casting parts. To locate an object, we have focused on identifying its reference plane. The system uses a two-dimensional matching technique to recognize an object and stereo ranging to measure its heights, and then applies a plane fitting technique to decide the three-dimensional orientations. The system can recognize a randomly placed casting part resting on a supported plane such as a conveyer belt even when it is tilted or piled on other parts. This paper describes the system and presents some experimental results.
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