Industrial vision system by fusing range image and intensity image

A combined system of range image processing and intensity image processing is proposed as a flexible vision system for industrial use like bin-picking and disassembly. First, range image processing and intensity image processing are discussed in the context of a flexible industrial vision system. Second, a vision system with both image sensors is developed. The range image sensor obtains about 1000 distances in 1/30 sec. Fundamental experiments on objects with blemishes are performed to verify the robustness of the vision system. Bin-picking of cylindrical parts is achieved effectively as an example of the vision system