Journal of the Korean Institute of Telematics and Electronics (대한전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Study on Implementation of a Robot Vision System for Recogniton of complex 2-D Objects

복잡한 2차원 물체 인식용 로봇 시각장치의 구현에 관한 연구

  • Kim, Ho-Seong (Dept. of Electrical Eng., Korea advanced Institute of Science and Technology) ;
  • Kim, Yeong-Seok (Dept. of Mechanical Eng., Korea advanced Institute of Science and Technology) ;
  • Byeon, Jeung-Nam (Dept. of Electrical Eng. and Electronic Eng., Korea advanced Institute of Science and Technology)
  • 김호성 (한국과학기술원 전기공학과) ;
  • 김영석 (한국과학기술원 기계공학과) ;
  • 변증남 (한국과학기술원 전자공학과)
  • Published : 1985.01.01
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Abstract

A computer vision system for robot is developed which can recognize a variety of two dimensional complex objects in gray level noisy scenes. the system is also capable of determining the position and orientation of the objects for robotlc manipulation. The hardware of the vision system is developed and a new edge tracking technique is also proposed. The linked edges are approximated to sample line drawing by split and merge algorithm. The system extracts many features from line drawing and constructs relational structure by the concave and convex hull of objects. In matching process, the input obhects are compared with the objects database which is formed by learning ability. Thelearning process is so simple that the system is very flexible. Several examples arc shown to demonstrate the usefulness of this system.

Keywords