Fig. 1 Flowchart of Image thresholding
Fig. 2 Flowchart of Initial Column for segment region
Fig. 3 Flowchart to find the end column for segment region
Fig. 4 Flowchart of edge detection
Fig. 5 The Process of Shape recognition
Fig. 6 Structure of vision system based PC
Fig. 7 Vision algorithm for inspection of surface scratch
Fig. 8 Hardware scheme of Image recognition
Fig. 9 Real image of reference model of forging part
Fig. 10 A real image of reference model
Fig. 11 Gray level value of optimizing histogram in set inspection area
Fig. 12 Inspected image of model
Fig. 13 The forging parts for shape recognition based on robot vision
Fig. 14 The scene of experiments
Fig. 15 The result anaysis of shape recognition of forging parts
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