A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT
Aiming at the problem that the robot de-palletizing task is difficult to accomplish under unstable ambient light, a two-step method is proposed to realize the localization of workpieces, which in this work are woven bags. To begin with, Region Growing method is used to extract the whole target regio...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9189763/ |
| _version_ | 1830092437055340544 |
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| author | Jinquan Li Jia Kang Zhe Chen Fang Cui Zixuan Fan |
| author_facet | Jinquan Li Jia Kang Zhe Chen Fang Cui Zixuan Fan |
| author_sort | Jinquan Li |
| collection | DOAJ |
| description | Aiming at the problem that the robot de-palletizing task is difficult to accomplish under unstable ambient light, a two-step method is proposed to realize the localization of workpieces, which in this work are woven bags. To begin with, Region Growing method is used to extract the whole target region in the original image, and the relationship model between image intensity and the optimal Region Growing threshold is established. Then, Progressive Probabilistic Hough Transform(PPHT) is used to locate each woven bag. To improve the system performance, the optimal parameters of the PPHT function in different illumination intervals are determined. Finally, experiments are conducted to verify the effectiveness of the proposed method. Experiment results demonstrate this method is robust and feasible. |
| first_indexed | 2024-12-16T17:38:15Z |
| format | Article |
| id | doaj.art-9396b0dd76cb4fc8a085c5a7800b4b20 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T17:38:15Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-9396b0dd76cb4fc8a085c5a7800b4b202022-12-21T22:22:41ZengIEEEIEEE Access2169-35362020-01-01816636516637610.1109/ACCESS.2020.30229069189763A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHTJinquan Li0https://orcid.org/0000-0002-4915-3222Jia Kang1https://orcid.org/0000-0002-5280-0726Zhe Chen2https://orcid.org/0000-0002-3153-4502Fang Cui3https://orcid.org/0000-0002-3572-2826Zixuan Fan4https://orcid.org/0000-0001-6293-3808School of Modern Posts, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Modern Posts, Beijing University of Posts and Telecommunications, Beijing, ChinaInstitute of Engineering Medicine, Beijing Institute of Technology, Beijing, ChinaSchool of Modern Posts, Beijing University of Posts and Telecommunications, Beijing, ChinaSchool of Modern Posts, Beijing University of Posts and Telecommunications, Beijing, ChinaAiming at the problem that the robot de-palletizing task is difficult to accomplish under unstable ambient light, a two-step method is proposed to realize the localization of workpieces, which in this work are woven bags. To begin with, Region Growing method is used to extract the whole target region in the original image, and the relationship model between image intensity and the optimal Region Growing threshold is established. Then, Progressive Probabilistic Hough Transform(PPHT) is used to locate each woven bag. To improve the system performance, the optimal parameters of the PPHT function in different illumination intervals are determined. Finally, experiments are conducted to verify the effectiveness of the proposed method. Experiment results demonstrate this method is robust and feasible.https://ieeexplore.ieee.org/document/9189763/Image segmentationworkpiece localizationregion growingPPHT |
| spellingShingle | Jinquan Li Jia Kang Zhe Chen Fang Cui Zixuan Fan A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT IEEE Access Image segmentation workpiece localization region growing PPHT |
| title | A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT |
| title_full | A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT |
| title_fullStr | A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT |
| title_full_unstemmed | A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT |
| title_short | A Workpiece Localization Method for Robotic De-Palletizing Based on Region Growing and PPHT |
| title_sort | workpiece localization method for robotic de palletizing based on region growing and ppht |
| topic | Image segmentation workpiece localization region growing PPHT |
| url | https://ieeexplore.ieee.org/document/9189763/ |
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