Examine vision technology for small object recognition in an industrial robotics application
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This thesis explains the development of a computer vision system able to find and orient relatively small objects. The motivations is exchanging a monotonous work done by hand and replace it with an automation system with help of an ABB IRB 140 industrial robot. The vision system runs on a standard PC and is developed using the OpenCV environment, originally made by Intel in Russia. The algorithms of the system is written in C++ and the user interface in C++/CLI. With a derived test case, multiple vision algorithms is tested and evaluated for this kind of application. The result shows that SIFT/SURF works poorly with multiple instances of the search object and HAAR classifiers produces many false positives. Template matching with image moment calculation gave a satisfying result regarding multiple object in the scene and produces no false positives. Drawbacks of the selected algorithm developed where sensibility to light invariance and lack of performance in a skewed scene. The report also contains suggestions on how to precede with further improvements or research.
Place, publisher, year, edition, pages
2015. , 39 p.
Computer vision, OpenCV, Automation
Signal Processing Robotics Computer Systems
IdentifiersURN: urn:nbn:se:mdh:diva-28218OAI: oai:DiVA.org:mdh-28218DiVA: diva2:819972
Robot System Products AB
Subject / course
Spampinato, Giacomo, Senior LecturerWallster, Ola
Ekström, Mikael, Associate Professor