SKYNET

1
Vision-Guided RobotPosition Control

• SKYNET

Tony Baumgartner Computer Science Jeff Clements
Mechanical Engineer Norman Pond Electrical
Engineer Brock Shepard Mechanical
Engineer Nicholas Vidovich Computer Engineer
Advisors Dr. Juliet Hurtig Dr. J.D. Yoder
February 19, 2004
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Problem Identification
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Equipment Provided

• Desktop computer
• Two CCD (Charge-Coupled Device ) cameras
• ABB Robot
• Controller

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Robot
ABB Articulated IRB 140
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Controller
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Design Deliverables

• Image Processing Completion Date
• Difference Algorithm 12/19/03
• Blob Detection 02/20/04
• Object Recognition 03/17/04
• User Interface 03/17/04
• Overall
• CPU/Robot Communication 03/17/04
• Gripper Implementation 03/17/04
• Testing 04/15/04

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Vision Systems

• Eye-On-Hand Configuration
• Limited view of work area
• Partial view of object
• Continually changes coordinate system mapping

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Vision Systems

• External Stereo Camera Configuration
• Distance fixed between cameras
• Coordinate system relation between camera space
  and real space fixed
• Full view of object

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Software Block Diagram
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Difference Algorithm Visuals
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Object Recognition Algorithms

• Shape-Based Matching
• Thresholding
• Blob Detection
• Pattern Recognition
• Similarity Measure

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Object Recognition VisualsNo Object in Scene
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Object Recognition VisualsObject Enters Scene
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Object Recognition VisualsBlob Show
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Object Recognition VisualsBlob Find
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Other Object Recognition Visuals
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Other Object Recognition Visuals
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Current Status

• Object recognition is currently being developed
• Serial communications with robot controller and
  computer are being established to send and
  receive coordinate values

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Future Implementation

• After Completion of Object Recognition
• Develop a coordinate system that can be converted
  from pixels to millimeters
• Develop calculations of where the object actually
  is in the camera view compared with the actual
  space

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Future Implementation

• After Completion of Controller/Computer
  Connection
• Develop algorithm that loops receiving values and
  transmitting values to move the robot

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QUESTIONS
?
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References

• lt1gt ABB Product Specification Sheet (2003)
• lt2gt Lin, C.T., Tsai D.M. (2002) Fast normalized
  cross correlation for defect detection. Machine
  Vision. Yuan-Ze University,1-5.
• lt3gt Phil Baratti Robot Precision (personal
  communication, November 4
• 2003)
• lt4gt Stegar, C.., 2001. Similarity measures for
  occlusion, clutter, and
• illumination invariant object recognition. In
  B. Radig and S. Florczyk(eds), Mustererkennung
  2001, Springer Munchen, pp. 145-154.
• lt5gt Stegar, C., Ulrich, M. 2002 Performance
  Evaluation of 2D Object
• Recognition Techniques. Technical Report
  Technische Universitat Munchen, 1-15.
• lt6gt Robots and Manufacturing Automation, pg.
  220-222.
• lt7gt http//www.prip.tuwien.ac.at/Research/RobotVis
  ion/vs.html