Development of a stereo vision system for an industrial robot

Bayraktar, Hakan
The aim of this thesis is to develop a stereo vision system to locate and classify objects moving on a conveyor belt. The vision system determines the locations of the objects with respect to a world coordinate system and class of the objects. In order to estimate the locations of the objects, two cameras placed at different locations are used. Image processing algorithms are employed to extract some features of the objects. These features are fed to stereo matching and classifier algorithms. The results of stereo matching algorithm are combined with the calibration parameters of the cameras to determine the object locations. Pattern classification techniques (Bayes and Nearest Neighbor classifiers) are used to classify the objects. The linear velocity of the objects is determined by using an encoder mounted to the shaft of the motor driving the conveyor belt. A robot can plan a sequence of motion to pick the object from the conveyor belt by using the output of the proposed system.


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Citation Formats
H. Bayraktar, “Development of a stereo vision system for an industrial robot,” M.S. - Master of Science, Middle East Technical University, 2004.