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Examine vision technology for small object recognition in an industrial robotics application
Mälardalen University, School of Innovation, Design and Engineering.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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 The vision system runs on a standard PC and is developed using the OpenCV environment, originally made by Intel in Russia.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.
Keyword [en]
Computer vision, OpenCV, Automation
National Category
Signal Processing Robotics Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-28218OAI: oai:DiVA.org:mdh-28218DiVA: diva2:819972
External cooperation
Robot System Products AB
Subject / course
Computer Science
Supervisors
Examiners
Available from: 2015-06-30 Created: 2015-06-11 Last updated: 2015-06-30Bibliographically approved

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fulltext(2201 kB)286 downloads
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf