Genetic labeling and its application to depalletizing robot vision

Abstract

Genetic labeling is a new labeling algorithm using Genetic Algorithm (GA). Although several applications of GA for low-level image processing such as line detection have been studied, they still require much computing time. We apply GA to the labeling for scene interpretation. The chromosome coding method we proposed is such that each bit represents the existence of an object. Genetic operation enables efficient labeling based on the building block hypothesis. We have developed a vision system for depalletizing robot using this technique. Object candidates are properly labeled, and the position of cartons is recognized. Through real image experiments, we estimated that genetic labeling is about 100 times faster than an improved enumerating method. Also we have proven that the reliability and speed of this system is practical.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>