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Issue No. 03 - May (1988 vol. 10)
ISSN: 0162-8828
pp: 291-309
<p>Focuses on the structure of robot sensing systems and the techniques for measuring and preprocessing 3-D data. To get the information required for controlling a given robot function, the sensing of 3-D objects is divided into four basic steps: transduction of relevant object properties (primarily geometric and photometric) into a signal; preprocessing the signal to improve it; extracting 3-D object features; and interpreting them. Each of these steps usually may be executed by several alternative techniques (tools). Tools for the transduction of 3-D data and data preprocessing are surveyed. The performance of each tool depends on the specific vision task and its environmental conditions, both of which are variable. Such a system includes so-called tool-boxes, one box for each sensing step, and a supervisor, which controls iterative sensing feedback loops and consists of a rule-based program generator and a program execution controller. Sensing step sequences and tools are illustrated for two 3-D vision applications at SRI International Company: visually guided robot arc welding and locating identical parts in a bin.</p>
3D vision structure; computer vision; robot vision; parts picking; computerised pattern recognition; data preprocessing; rule-based program; arc welding; computer vision; computerised pattern recognition; robots

D. Nitzan, "Three-Dimensional Vision Structure for Robot Applications," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 10, no. , pp. 291-309, 1988.
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