A Vision Based Position System for Robot Picking

Abstract

A machine vision system for robot picking is presented in this paper which is used in robot polishing line. An algorithm for matching work-pieces in a given plane is proposed, which includes camera calibration, image rectification, image preprocessing and image matching. By calibrating the camera, the relationship between the camera and the working plane is established. Experiment results show that camera calibration and image rectification help reduce the matching error apparently in orientation and position, reducing the error from 1.876% to 0.264% on the left bottom and 0.464% to 0.056% on the top right.