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Development of Vision Guided Pick-n-Place Robotic Arm: SIFT based approach - Couverture souple

Patil, Girish

 
9783330342408: Development of Vision Guided Pick-n-Place Robotic Arm: SIFT based approach
Couverture souple
ISBN 10 : 3330342404 ISBN 13 : 9783330342408
Editeur : LAP LAMBERT Academic Publishing, 2017

Synopsis

This book presents a complete vision guided robotic arm system for picking and placing of objects. For object recognition and localization, the approach exploits Scale Invariant Feature Transform keypoint extraction to segment the correspondences between the object model and the image onto different potential object instances with real-time performance. Form the obtained correspondences, the best picking point is estimated. The coordinates of this point is then transferred to robotic arm coordinate system, which allows the arm to pick and place the object to the desired locations. The use of SIFT based clustering allows the system to be used for applications under extreme conditions of occlusion, where standard appearance-based approaches are likely to be ineffective. This system overcome most of the challenges occurred in actual workspace and in real time applications by presenting sufficient speed of operation. The system can handle complex ambient illumination conditions, challenging specular backgrounds, condition of occlusion, diffuse, and transparent as well as specular objects efficiently. The system can work with a single view of object, reducing the time and complexity.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

This book presents a complete vision guided robotic arm system for picking and placing of objects. For object recognition and localization, the approach exploits Scale Invariant Feature Transform keypoint extraction to segment the correspondences between the object model and the image onto different potential object instances with real-time performance. Form the obtained correspondences, the best picking point is estimated. The coordinates of this point is then transferred to robotic arm coordinate system, which allows the arm to pick and place the object to the desired locations. The use of SIFT based clustering allows the system to be used for applications under extreme conditions of occlusion, where standard appearance-based approaches are likely to be ineffective. This system overcome most of the challenges occurred in actual workspace and in real time applications by presenting sufficient speed of operation. The system can handle complex ambient illumination conditions, challenging specular backgrounds, condition of occlusion, diffuse, and transparent as well as specular objects efficiently. The system can work with a single view of object, reducing the time and complexity.

Biographie de l'auteur

Obtained diploma in E&C, from Govt Poly, Amravati (2007), B.E. in E&TC from PRMIT&R, Badnera, (S.G.B.A.U.) (2010), M. Tech. in ESC from Govt College of Engg, Amravati(2013). Currently working in PRMIT&R, Badnera as Asst. Prof.having exp. of 4yrs in teaching. Areas of Interest: Image Processing, Robotics, Embedded Systems, etc.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2017
Langue
anglais
ISBN 10 
3330342404
ISBN 13 
9783330342408
Reliure
Broché
Nombre de pages
84
Coordonnées du fabricant
non disponible
Personne responsable
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