1. Ivan Ćirić, Универзитет у Нишу, Машински факултет, Serbia
2. Žarko Ćojbašić, Универзитет у Нишу, Машински факултет, Serbia
3. Vlastimir Nikolic, Универзитет у Нишу, Машински факултет, Serbia
4. Milica Ćirić, Faculty of Civil Engineering and Architecture in Niš, Serbia
5. Predrag Živković, Универзитет у Нишу, Машински факултет, Serbia
6. Ivan Pavlović, Универзитет у Нишу, Машински факултет, Serbia
7. Emina Petrovic, Универзитет у Нишу, Машински факултет, Serbia
In this paper, the problem of robot vision system is considered as a part of hierarchically highest level of control that is used for object recognition and that allows adequate and reliable robotic grasping. Thus, the application of an intelligent classifier is proposed in the object recognition process for an advanced and robust robot vision system. This novel technique allows 3D object reconstruction with accurate determination of position and orientation of a rigid body that can help in deciding where to grasp object with a robot arm. Classification is performed using features obtained from segmented image after pre-processing, image segmentation and post-processing. Such an image combined with classification results enables accurate 3D object reconstruction that is crucial for grasping problem.
Кључне речи :
Тематска област:
Mechatronics and Information Technology
Датум:
02.03.2015.
