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http://dx.doi.org/10.7746/jkros.2014.9.3.140

Development of a Dual-Arm Drawing Robot using Line Segment Approximation of Image Edges  

Kim, Jung-Kyu (Dept. of Information & Communications Engineering, Hansung University)
Lee, Sang-Pil (Dept. of Information & Communications Engineering, Hansung University)
Jung, Hye-Lim (Dept. of Information & Communications Engineering, Hansung University)
Cho, Hye-Kyung (Dept. of Information & Communications Engineering, Hansung University)
Publication Information
The Journal of Korea Robotics Society / v.9, no.3, 2014 , pp. 140-146 More about this Journal
Abstract
This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.
Keywords
Edge Detection; Hough Transform; Painter Robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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