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A bin picking system based on depth from defocus

Ghita, Ovidiu and Whelan, Paul F. (2003) A bin picking system based on depth from defocus. Machine Vision and Applications, 13 (4). pp. 234-244. ISSN 0932-8092

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Abstract

PDF (354.4 KB) Original paper A bin picking system based on depth from defocus Ovidiu Ghita1 and Paul F. Whelan2 (1) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland (e-mail: ghitao@eeng.dcu.ie, Tel.: +353-1-7005869, Fax: +353-1-7005508) , IE (2) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland , IE Abstract. It is generally accepted that to develop versatile bin-picking systems capable of grasping and manipulation operations, accurate 3-D information is required. To accomplish this goal, we have developed a fast and precise range sensor based on active depth from defocus (DFD). This sensor is used in conjunction with a three-component vision system, which is able to recognize and evaluate the attitude of 3-D objects. The first component performs scene segmentation using an edge-based approach. Since edges are used to detect the object boundaries, a key issue consists of improving the quality of edge detection. The second component attempts to recognize the object placed on the top of the object pile using a model-driven approach in which the segmented surfaces are compared with those stored in the model database. Finally, the attitude of the recognized object is evaluated using an eigenimage approach augmented with range data analysis. The full bin-picking system will be outlined, and a number of experimental results will be examined. Key words: Range sensor – Depth from defocus – Edge linking – Surface matching – Eigenimage analysis Received: 2 December 2000 / Accepted: 9 September 2001 Correspondence to: O. Ghita

Item Type:Article (Published)
Refereed:Yes
Additional Information:The original publication is available at www.springerlink.com
Uncontrolled Keywords:Range sensor; Depth from defocus; Edge linking; Surface matching; Eigenimage analysis;
Subjects:Physical Sciences > Detectors
DCU Faculties and Centres:DCU Faculties and Schools > Faculty of Engineering and Computing > School of Electronic Engineering
Research Initiatives and Centres > Research Institute for Networks and Communications Engineering (RINCE)
Publisher:Springer Berlin / Heidelberg
Official URL:http://dx.doi.org/10.1007/s00138-002-0071-4
Use License:This item is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 3.0 License. View License
ID Code:2456
Deposited On:09 Mar 2009 14:52 by DORAS Administrator. Last Modified 09 Mar 2009 14:52

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