Multiprocessor 3D vision system for pick and place

摘要

A 3D vision system implemented upon a locally developed transputer-based hybrid parallel processing engine named MARVIN (Multiprocessor ARchitecture for VIsioN), hosted by a SUN workstation, is described. In addition to the recovery of scene descriptions from edge-based binocular stereo, the system incorporates a parallel model matching algorithm which is able to accurately locate modelled objects within such scenes. The competence of this vision system is demonstrated by visually guiding a robot arm to pick up various objects in a cluttered scene with a total processing time of approximately ten seconds.