Image Processing and Artificial Neural Network for Robot Application

摘要

This paper presents a robot vision application, implemented in MATLAB working environment, developed for feature-based object recognition, object sorting and manipulation, based on shape classification and its pose calculus for proper positioning. The application described in this article, designed to detect, identify, classify and manipulate objects is based on previous robot vision applications that are presented in more detail in [1]. The idea underlying the mentioned applications is to determine the type, position and orientation of the work pieces (in those cases different types of bearings). Taking it further, in the presented application, objects that show shape with a gradual level of complexity are used. For this reason pattern recognition are discriminated by training a two layers neural network. The network is presented and also the input and output vectors.