Division of Informatics
Forrest Hill & 80 South Bridge
Research Paper #615 | |
|---|---|
| Title: | Vision Guided Part Alignment with Degraded Data |
| Authors: | Harris,M |
| Date: | Jan 1993 |
| Presented: | Presented at SICICA'92 |
| Keywords: | |
| Abstract: | We investigate the possibility of controlling robot motion on the basis of features of a grasped part. A system was developed capable of inserting prisms of arbitrary cross-section into correspondingly shaped holes (the child's peg-in-hole problem). 2D vision processing reduces polygon approximations to both peg and hole cross-sections. A novel "shape attractor" algorithm is then used to find the motion in the image plane which brings these two sets of edges into alignment, and this in turn is converted to (approximate) robot motion, and the process is iterated. The system is self-calibrating and tolerant of degraded image data. |
| Download: | NO ONLINE COPY |
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