Creation of a fusion image obtained in different electromagnetic ranges used in industrial robotic systems

Abstract

Modern robotic systems allow you to automate processes and increase employee productivity. To create such systems, finite state machines (sensor systems) and machine vision systems are used. The scope of their application may be the development of a robotic system within the framework of the INDUSTRY 4.0 project. The article proposes an approach based on combining data obtained by fusion from cameras working in various electromagnetic ranges. An approach is proposed that is based on a fusion of data on the shape, boundaries, and parameters of objects. The search for the boundaries and shape of objects is based on the layer-bylayer simplification of images with the allocation of local features at each level. The search for local features is based on the allocation of local stationary sections, the allocation of the boundaries of objects, the determination of their parameters and the combination of information in a single information space. The search for boundaries is based on the use of the method of combined image analysis with a joint analysis of the L2 norm criterion. As a measure of a discrepancy, the square of the difference of the input value and the resulting estimate is used. As an example, the results of fusing images based on the combination of infrared data, RGB data, and IR cameras are presented.