Integration Of Model-Based Computer Vision And Robotic Planning

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Abstract
A large class of man-made objects are characterized by a hierarchical composition consisting of geometric features, special markings and kinematics of movable parts. This hierarchy provides a natural algorithmic control structure that successively constrains the image processing, defining at each level the image region of interest and the significant patterns to be identified. A demonstration of this principle is provided in this paper using Task Panel images. The Task Panel has several movable doors, panels and latches. The model-based vision system determines the "state" of the Task Panel from a single input image. Furthermore, the vision system is integrated with a robot planning system that controls a T-3 746 manipulator as it performs simple tasks such as opening and closing doors on the Task Panel.

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