Title :
Fast localisation of mechanical components using Hough transform
Author_Institution :
Dipt. di Inf. e Sistemistica, Pavia Univ., Italy
Abstract :
This article presents the work developed as degree thesis in informatic engineering that has been carried out at the Laboratory of Artificial Vision in the Department of Informatica and Sistemistica of the University of Pavia, in the years 1997 and 1998. The paper describes an artificial vision system based on the generalized Hough transform to find the position and the orientation of hydraulic components with the aim of driving a mechanical arm in positioning and repositioning operations. A prototype of this system has been successfully integrated with an existing industrial robot and currently is in its final testing phase in a real production environment. The vision system and its interface has been developed under the Linux operating system using the Tcl/Tk tools for the control interface and the C language for the time critical sections
Keywords :
C language; Hough transforms; hydraulic systems; industrial manipulators; operating systems (computers); position control; robot vision; software tools; C language; Laboratory of Artificial Vision; Linux operating system; Tcl/Tk tools; University of Pavia; artificial vision system; control interface; data structures; fast localisation; generalized Hough transform; hydraulic components; industrial robot; mechanical arm; mechanical components; production environment; repositioning operations; time critical sections; Electrical equipment industry; Informatics; Laboratories; Linux; Machine vision; Operating systems; Production systems; Prototypes; Service robots; System testing;
Conference_Titel :
Image Analysis and Processing, 1999. Proceedings. International Conference on
Conference_Location :
Venice
Print_ISBN :
0-7695-0040-4
DOI :
10.1109/ICIAP.1999.797743
