Title :
The SENROB vision-system and its philosophy
Author :
Hartmann, G. ; Drüe, S. ; Dunker, J. ; Kräuter, K.O. ; Mertsching, B. ; Seidenberg, E.
Author_Institution :
Fachbereich 14 Elektrotechnik, Univ. Gesamthochschule Paderborn, Germany
Abstract :
Objects arbitrarily positioned within the working space of our MANUTEC r2 robot are detected and foveated by a colour TV-camera mounted close to the robot´s hand. Previously learnt objects are recognized and gripped while unknown objects are included into the system by feeding the name of the object. Neural representations of regions, contours, corners, and colours are learnt by only one presentation. Invariances are due to parametric mappings controlled by estimated values of orientation and distance. All components of the architecture are massively parallel, and the system provides high reliability and accuracy
Keywords :
robot vision; CCD camera; MANUTEC r2 robot; SENROB vision-system; colour TV-camera; colours; contour representation; neural representations; object recognition; parallel architecture; parametric mappings; pattern matching; robot vision; Biological systems; Machine vision; Object detection; Orbital robotics; Parallel robots; Pattern matching; Robot sensing systems; Robot vision systems; Robustness; Sensor systems;
Conference_Titel :
Pattern Recognition, 1994. Vol. 2 - Conference B: Computer Vision & Image Processing., Proceedings of the 12th IAPR International. Conference on
Conference_Location :
Jerusalem
Print_ISBN :
0-8186-6270-0
DOI :
10.1109/ICPR.1994.577042
