SpatialVISION – software module for objects identification before robotic gripping

IONEL STARETU, Transilvania University of Brasov, CATALIN MOLDOVAN, Transilvania University of Brasov
2017 Journal of Engineering Sciences and Innovation  
In this paper we present a software module for object recognition before robotic gripping with an anthropomorphic gripper. To this effect, recognizing the shape of an object using digital image processing algorithms, falling in the area of digital sequences processing, is important. This area has evolved a lot lately, in particular due to the progress of computing resources, involving parallel processing of each basic unit of an image. The paper summarizes the theoretical background and the
more » ... lts related to the software developed for this purpose, called SpatialVISION. To implement the SpatialVISION application, the implementation of the SIFT algorithm was used, which is a personal approach in C #, using EmguCV library for working with images. To use the SpatialVISION application, a tool called SVAdminUtility was also created, which is used to populate a database with three-dimensional objects that will later be recognized. In structural terms, the SVAdminUtility application has four functional components namely: SVAdminUtility component; Collada component; Viewer component and XSD2NET component. To assess the SpatialVISION application, an experiment was conducted, whose results are presented in the paper, which consists in measuring the average time of execution of the object recognition algorithm using two types of images captured by two types of cameras: a WEB camera and a Canon PowerShot camera.
doi:10.56958/jesi.2017.2.1.22 fatcat:mfui7xyw2nhcxhejevviwzjwzq