ファジィパターンマッチングを用いたセンサ情報の統合による立体図形の認識

概要

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This paper deals with the recognition of 3-dimensional objects by sensor fusion using fuzzy pattern matching. This system consists of SCARA (selective compliance assembly robot arm), a laser sensor and ITV camera. First, the data on the 2-dimensional outline shape is measured by the downward ITV camera and its feature value is shown by the complexity rate. Second, the data on the height of the object is measured by circular range sensing using SCARA and the laser sensor mounted on its end effector. The data are expressed by Fourier series and the Fourier coefficients less than 4-degree are used as feature value about the height. The object is recognized by fuzzy pattern matching which compares fuzzy schema of objects with data of feature values obtained from sensors. The usefulness of this method is shown by results of three experiments.
一般社団法人日本機械学会の論文
1991-03-25