Abstract
This paper describes a new visual sensor system for the recognition of touching and overlapping workpieces, designed to meet the requirements of real applications in the factory. The system analyses the grey scale image and comprises two stages: a feature-extraction stage, which is designed mainly in special-purpose hardware, and a model-based analysis stage. The system works with edge-based geometrical primitives and surface features. The model comprises topographical and procedural information in order to control the image-analysis, which is based on the “heuristic-search” technique. The hardware and software design is modular. The system is working well in a wide range of environmental conditions and with different kinds of workpieces. A prototype version is completed and has proved its reliability and performance in several applications in the factory.
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