Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System,

Abstract

This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface orientation measurements. With this information the camera field is segmented into isolated regions of continuous smooth surface. One of these regions is then selected as the target region. The attitude of the physical object associated with the target region is determined by histograming surface orientations over that region and comparing with stored histograms obtained from prototypical objects Range information, not available from photometric stereo is obtained by the PRISM binocular stereo system. A collision-free grasp configuration and approach trajectory is computed and executed using the attitude, and range data. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1984
Accession Number
ADA147782

Entities

People

  • B. K. P. Horn
  • H. K. Nishihara
  • K. Ikeuchi
  • P. Sobalvarro
  • S. Magata

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Brightness
  • Computer Stereo Vision
  • Computer Vision
  • Convolution
  • Geometry
  • High Level Language Architecture
  • Illumination
  • Light Sources
  • Measurement
  • Orientation (Direction)
  • Robotics
  • Shape
  • Three Dimensional
  • Trajectories
  • Two Dimensional

Readers

  • Computer Vision.