Bolting robot assistance system using image processing

The Bolting robot assistance system prevents operator to face dangerous situations. Bolting robot assistance system consists of bolting robot control system and top-view supervisory system. In order to control a bolting robot, Camshift algorithm and circular Hough transform are used. To estimate location of bolt hole, circular Hough transform is used. In order to track a bolt hole, Meanshift and Camshift are used. Camshift operates on color image represented by probability point and applies a non-parametric gradient density called Meanshift algorithm to re-center its operating window. By setting region to search a bolt hole, the algorithm will track the location of the bolt hole. In order to make top-view supervisory system, four cameras are installed at left, right, front and back of the robot. Each image from the camera is used to make the top-view image after correcting distortion. This paper proposes the image processing algorithm which is suitable for top-view supervisory system.