粗い距離画像を用いた高速ビンピッキング視覚システムの構築

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タイトル別名
  • Fast Vision System for Bin-Picking Using Sparse Range Image.
  • アライ キョリ ガゾウ オ モチイタ コウソク ビンピッキング シカク システ

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抄録

Visual functions for bin picking are realized fast by utilizing a sparse range image. The functions are composed of (1) detection of a necessary part from a lot of parts piled on each other, and (2) measurement of its three dimensional position and orientation. Framework of the vision system is discussed on the assumption that a shape model of the necessary part is given. Method of fast segmentation of a sparse range image is presented for the part's detection. Four kinds of shapes: polyhedra, cylinder, cone and sphere are chosen as important shapes for industrial bin-picking, and for each shape, examination if a segment of a sparse range image is the shape, and measurement of its three dimensional position and orientation are shown. Experiments with a real fast range sensor and a personal computer show that the presented vision system is fast: total process time is less than 1.5 s for multiple piled cylinders.

収録刊行物

  • 精密工学会誌

    精密工学会誌 60 (6), 858-862, 1994

    公益社団法人 精密工学会

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