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Visual motion detection with hand-eye manipulator using statistic moments classifiers and fuzzy logic approach-study, application and comparation

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4 Author(s)
T. G. Amaral ; Escola Superior Tecn. Setubal, Coimbra Univ., Portugal ; M. Crisostomo ; V. F. Pires ; A. T. Almeida

In this paper, we address the visual servo control of a robot manipulator under a camera-in-hand configuration. The goal is to recognise several types of different objects in a moving conveyer belt using a camera attached to a robot arm. To accomplish the object recognition three different methods are proposed: statistic based on Hu moments, statistic based on affine moments and a fuzzy based classifier. Validity and effectiveness of the proposed methods are evaluated by real-time experiments using a CCD camera attached to an ADEPT robot arm. Comparisons between the three proposed methods based on experimental results are also presented

Published in:

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE  (Volume:3 )

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