A real-time algorithm for color sorting edge-glued panel parts

This paper presents a real-time algorithm for color sorting edge-glued panel parts. The algorithm consists of color class training and real-time sorting procedures. The algorithm uses 3-D histograms to characterize the surface color of a part's face as well as a color class and employs the minimum-distance classifier to label the face. In addition to real-time sorting, a technique is used to select the better of the part's two faces based on class priorities and color difference values for the two part faces. This algorithm has been tested in a plant, and the sorting results are satisfactory.