A multiprocessor 3D vision system for pick and place
نویسندگان
چکیده
We describe a 3D vision system implemented upon a locally developed transputer-based hybrid parallel processing engine named MARVIN (Multiprocessor ARchitecture for VIsioN), hosted by a SUN workstation. In addition to the recovery of scene descriptions from edge based binocular stereo, the system incorporates a model matching algorithm which is able to accurately locate modelled objects within such scenes. The competence of this vision system is demonstrated by visually guiding a robot arm to pick up various objects in a cluttered scene with a total processing time of approximately 10 seconds.
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تاریخ انتشار 1990