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http://dx.doi.org/10.5762/KAIS.2017.18.4.358

Study on vision-based object recognition to improve performance of industrial manipulator  

Park, In-Cheol (KIRD, Korea Institute of Human Resources Development in Science and Technology)
Park, Jong-Ho (School of Department of Electronic & Electronic Engineering, Seonam University)
Ryu, Ji-Hyoung (ETRI, Electronics and Telecommunications Research Institute)
Kim, Hyoung-Ju (ETRI, Electronics and Telecommunications Research Institute)
Chong, Kil-To (School of Department of Electronic Engineering, Chon-buk National University/Advanced Electronics and Information Research Center, Chon-buk National University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.18, no.4, 2017 , pp. 358-365 More about this Journal
Abstract
In this paper, we propose an object recognition method using image information to improve the efficiency of visual servoingfor industrial manipulators in industry. This is an image-processing method for real-time responses to an abnormal situation or to external environment change in a work object by utilizing camera-image information of an industrial manipulator. The object recognition method proposed in this paper uses the Otsu method, a thresholding technique based on separation of the V channel containing color information and the S channel, in which it is easy to separate the background from the HSV channel in order to improve the recognition rate of the existing Harris Corner algorithm. Through this study, when the work object is not placed in the correct position due to external factors or from being twisted,the position is calculated and provided to the industrial manipulator.
Keywords
Image processing; Manipulator; Vision system; Visual servoing; Otsu Thresholding;
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Times Cited By KSCI : 1  (Citation Analysis)
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