A low-cost stereoscopic µP-based vision system for industrial light objects grasping

Author

Kanellakis, Christoforos ; Kyritsis, George ; Tsilomitrou, Ourania ; Manesis, Stamatis

Author_Institution

Dept. of Comput. Sci., Electr. & Space Eng., Lulea Univ. of Technol., Lulea, Sweden

fYear

2015

fDate

16-19 June 2015

Firstpage

759

Lastpage

765

Abstract

This article describes a vision-based manipulation process for real-time moving objects tracking and grasping, aiming at industrial manufacturing and assembling applications. The adoption of computer vision techniques for object recognition is implemented by means of a stereoscopic system using color based methods under OpenCV libraries. The visual software is directly coupled with the control software of the robotic arm Katana 6M90G manufactured by Neuronics AG, running under a Linux-based Operating System (OS) distribution Lubuntu, over a low-cost and powerful microprocessor Odroid U3. Experimental studies validate the effectiveness of the implementation, while remarking the advantageous effects of the 3D pose estimation process.

Keywords

Linux; assembling; image colour analysis; image motion analysis; industrial manipulators; object detection; object recognition; object tracking; process control; production engineering computing; robot vision; stereo image processing; 3D pose estimation process; Linux-based operating system; OS distribution Lubuntu; OpenCV libraries; color based methods; computer vision techniques; control software; industrial assembling; industrial light objects grasping; industrial manufacturing; low-cost stereoscopic μP-based vision system; microprocessor Odroid U3; object recognition; real-time moving object grasping; real-time moving object tracking; robotic arm Katana 6M90G; vision-based manipulation process; visual software; Cameras; Manipulators; Mathematical model; Robot kinematics; Stereo image processing; Three-dimensional displays; Computer Vision; Object detection; Object grasping; Robotic Arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2015 23th Mediterranean Conference on

Conference_Location

Torremolinos

Type

conf

DOI

10.1109/MED.2015.7158837

Filename

7158837