Three-dimensional locating of industrial parts
Abstract
Results are presented of research undertaken to investigate ways of using three dimensional models of industrial parts to recognize and locate those parts quickly and reliably in a combination of range and intensity data. An object modeling system based on planes and cylinders was implemented. The system groups features of the objects according to their inherent properties and according to the relationships between them. The appearance of cylindrical features was characterized from two perspectives: the intersection of a set of light planes and a cylinder, and the types of edges that are associated with cylindrical features. Based on these properties, techniques for locating cylinders in range data were developed. The concept was tested by implementing a simple range sensor and two programs to find objects with prominent cylindrical parts.
- Publication:
-
Southwest Research Inst. Report
- Pub Date:
- November 1983
- Bibcode:
- 1983sri..reptR....B
- Keywords:
-
- Artificial Intelligence;
- Circular Cylinders;
- Cylindrical Bodies;
- Robots;
- Calibrating;
- Castings;
- Computer Programs;
- Sensors;
- Three Dimensional Models;
- Topology;
- Engineering (General)