広ダイナミックレンジ視覚センサを用いた照明変動にロバストなロボット視覚

抄録

We have developed a robust vision system for 2D positioning of industrial parts against the change of lighting condition. A wide dynamic range vision sensor, we had developed previously, was used to avoid the saturation of images of the objects. Additionally, a gray scale pattern matching technique was employed for the robust image processing. Performance of the developed system with the wide dynamic range vision sensor was investigated experimentally in comparison with that of the system with a conventional video camera. The probability of correct positioning of an object under a changing lighting condition, simulating that in a factory, resulted in 100% for the wide dynamic range vision sensor while 83% for the conventional video camera. The experimental result has confirmed the effectiveness of the developed system, revealing that the dynamic range expansion of the video cameras is very effective for realizing robust robot vision systems.