Colored object detection algorithm for visual-servoing application

摘要

A visual servoing application for automated object detection is described. This application is based on a computer vision algorithm that enables: the detection of colored objects, which are located on a conveyor pallet, the height calculation of these objects, the determination of their type, their position and orientation, in order for a SCARA robot to be able to manipulate them. The object detection algorithm developed with the help of Matlab software relies on the fact that the image segmentation operation is performed in the HSV color space. The camera calibration and the robot calibration methods used are also described.