3-D Object Recognition Using Combined Overhead And Robot Eye-In-Hand Vision System

Ren C. Luc; Min-Hsiung Lin

doi:10.1117/12.943026

19 October 1987 3-D Object Recognition Using Combined Overhead And Robot Eye-In-Hand Vision System

Ren C. Luc, Min-Hsiung Lin

Proceedings Volume 0856, IECON '87: Industrial Applications of Robotics & Machine Vision; (1987) https://doi.org/10.1117/12.943026
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

A new approach for recognizing 3-D objects using a combined overhead and eye-in-hand vision system is presented. A novel eye-in-hand vision system using a fiber-optic image array is described. The significance of this approach is the fast and accurate recognition of 3-D object information compared to traditional stereo image processing. For the recognition of 3-D objects, the over-head vision system will take 2-D top view image and the eye-in-hand vision system will take side view images orthogonal to the top view image plane. We have developed and demonstrated a unique approach to integrate this 2-D information into a 3-D representation based on a new approach called "3-D Volumetric Descrip-tion from 2-D Orthogonal Projections". The Unimate PUMA 560 and TRAPIX 5500 real-time image processor have been used to test the success of the entire system.

Citation Download Citation

Ren C. Luc and Min-Hsiung Lin "3-D Object Recognition Using Combined Overhead And Robot Eye-In-Hand Vision System", Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); https://doi.org/10.1117/12.943026

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