Vision-Based Handling System Using Closed-Curves for Feature-Matching

Abstract

We have focused to identify three isolated closed-curves on the object to decide its position and orientation, because most of our objects are rigid and have some visible holes or dimples as closed-curves on their surface. The system uses three-dimensional closed-curves matching technique with stereo ranging, estimates its appearance in the scene using model-based feature matching, and then pick it up. The system can recognize and pick up randomly stacked casting parts in a bin.