Towards a Vision System for Supervising Assembly Processes

摘要

. Supervising robotic assembly of multi-functional objects by means of a computer vision system requires components to identify assembly operations and to recognize feasible assemblies of single objects. If the results of both components should be consistent there have to be common models providing knowledge about the intended application. However, if the assembly system should handle not only exactly specified tasks it is rather impossible to model every possible assembly or action explicitly. Therefore, based on a flexible approach to model and recognize bolted assemblies and a method to monitor a construction process we propose an approach to fuse the results of the action detection and the recognition of assemblies in order to realize a reliable and efficient supervision. 1 Introduction Assembling a complex object from a set of separate parts usually takes a sequence of assembly operations, i.e. in most cases constructing an assembly is a process of sequentially connecting several...