• Infrared and Laser Engineering
  • Vol. 44, Issue S, 230 (2015)
Wang Zhongren1、*, Lu Qingyan2, and Liu Haisheng1、3
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
  • 3[in Chinese]
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    DOI: Cite this Article
    Wang Zhongren, Lu Qingyan, Liu Haisheng. Visual recognition and location method of randomly placed parts based on CAD model[J]. Infrared and Laser Engineering, 2015, 44(S): 230 Copy Citation Text show less

    Abstract

    Accurate recognition and location of randomly placed industrial parts is the key technology to realized intelligent bin-picking of industrial robot. An approach to recognition and location of target object in randomly placed industrial parts using monocular camera. Efficient recognition of industrial parts with distinct profile could be realized when the geometric information based on 3D CAD model is used to train the temple. The most appropriate temple was obtained after the combination of a pyramid approach with hierarchical model views and the matching mode characterize by normalized similarity measure. The tested objective is a metal couple cage with distinct profile and reflective feature. Some experiments were carried out for randomly placed parts. Experimental results show that the target can be recognized accurately in randomly placed parts. The average location errors of target parts in X, Y and Z direction are 0.948 mm, 1.078 mm and 2.175 mm.
    Wang Zhongren, Lu Qingyan, Liu Haisheng. Visual recognition and location method of randomly placed parts based on CAD model[J]. Infrared and Laser Engineering, 2015, 44(S): 230
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