Development tools for a model directed workpiece recognition system

摘要

The application of industrial robots for automation can be greatly extended if the robot is equipped with a visual sensor that allows it to recognize and locate parts and workpieces. Structural recognition methods are frequently used for the recognition of industrial parts and the recognition is guided by an abstract description (the model) of the workpiece. In an industrial environment not specially trained personnel has to be able to establish the model effectively and easily. The paper describes tools that were developed to generate and optimize the model data interactively, which are necessary to drive workpiece recognition systems. The power of these tools for interactive model generation is demonstrated by an example of a typical industrial recognition task. The tools can be further improved towards automatic model generation.