TY - GEN
T1 - Stereo vision system for car assembly
AU - Kimura, Yoshikatsu
AU - Naito, Takashi
AU - Nakano, Masaru
AU - Moribe, Hiroshi
AU - Kuno, Toshitaka
PY - 1995/1/1
Y1 - 1995/1/1
N2 - This paper presents a stereo vision system suitable for car assembly which requires recognition and localization of typical three dimensional industrial parts. The vision system should meet three requirements: fast processing, high accuracy and robustness. Both to reduce computational cost and to increase localization accuracy, Videorate Pipeline Sub-pixel Edge Extractor (VPSEE/vi:pi:si:/), which can extract sub-pixel accurate edges from a 512 × 512 gray image with Canny edge finder, has been developed. To recover a robust depth-map, the stereo algorithm which embodies several constraints, both to decide matching candidates and to calculate the strength of potential matches, uses information on 2D geometrical features recovered from edge segments. Experimental results show that this vision system can recognize complex industrial parts thus proving applicable for automation tasks.
AB - This paper presents a stereo vision system suitable for car assembly which requires recognition and localization of typical three dimensional industrial parts. The vision system should meet three requirements: fast processing, high accuracy and robustness. Both to reduce computational cost and to increase localization accuracy, Videorate Pipeline Sub-pixel Edge Extractor (VPSEE/vi:pi:si:/), which can extract sub-pixel accurate edges from a 512 × 512 gray image with Canny edge finder, has been developed. To recover a robust depth-map, the stereo algorithm which embodies several constraints, both to decide matching candidates and to calculate the strength of potential matches, uses information on 2D geometrical features recovered from edge segments. Experimental results show that this vision system can recognize complex industrial parts thus proving applicable for automation tasks.
UR - http://www.scopus.com/inward/record.url?scp=0029184074&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.1995.525474
DO - 10.1109/ROBOT.1995.525474
M3 - Conference contribution
AN - SCOPUS:0029184074
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1403
EP - 1409
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -