A fuzzy logic based bin picking technique

A novel two-dimensional matched filter of the parallel jaw type using fuzzy logic is proposed for bin-picking. Specifically, averaged pixel intensity of the windowed region for the filtering is considered to be fuzzy. Also membership functions for darkness and brightness are designed by using the intensity histogram of an image. A rule is then given to know how much a windowed region can be a possible hold site. Eight rules determine the part orientation, where Mamdani´s reasoning method is applied. To show the validity of the proposed technique, some experimental results are illustrated and compared with the results of the conventional matched filtering technique