상세정보
학술지
HSV Color-Space-Based Automated Object Localization for Robot Grasping without Prior Knowledge
- 발행일
- 202108
- 출처
- Applied Sciences, v.11 no.16, pp.1-19
- ISSN
- 2076-3417
- 출판사
- MDPI
- 협약과제
- 21FR2300, 중소제조공장을 위한 초경량 생산공정·안전관리 플랫폼 기술 개발, 강현철
- 초록
- We propose a simple and robust HSV color?릗pace?륿ased algorithm that can automatically extract object position information without human intervention or prior knowledge. In manufacturing sites with high variability, it is difficult to recognize products through robot machine vision, especially in terms of extracting object information accurately, owing to various environmental fac-tors such as the noise around objects, shadows, light reflections, and illumination interferences. The proposed algorithm, which does not require users to reset the HSV color threshold value whenever a product is changed, uses ROI referencing method to solve this problem. The algorithm automatically identifies the object's location by using the HSV color?릗pace?륿ased ROI random sampling, ROI similarity comparison, and ROI merging. The proposed system utilizes an IoT device with several modules for the detection, analysis, control, and management of object data. The experimental results show that the proposed algorithm is very useful for industrial automation applications under complex and highly variable manufacturing environments.
- KSP 제안 키워드
- HSV color, High variability, Industrial automation, IoT Devices, Object Data, Position information, Random sampling, Robot grasping, Space based, Threshold Value, human intervention
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