<title>Visual recognition of objects for manipulation by calibration-free robots</title>

Abstract

A novel concept of object-oriented vision-based recognizing objects of various shapes is introduced. It can be used for a vision-guided manipulator gasping objects without quantitative modeling of the robot and the optical system. The object detection from the background and other irrelevant image information is achieved by observing direct the object appearance in real-time images. By this approach, coordinate transformations and reconstructions of objects are avoided; instead, image data are used directly to control the behavior of the robot, or the interactions of the robot with physical objects. The approach was evaluated and demonstrated in real- word experiments on a vision-guided calibration-free manipulator with five degrees of freedom (DOF) for recognizing and grasping a variety of differently shaped objects in nearly arbitrary orientations and positions anywhere in the robot's 3-D work space.