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Using visual and force information in robot-robot cooperation to build metallic structures

Pomares J., Gil P., Corrales J. A., Garcia G. J., Puente S. T., Torres F.

Journal of Automation Mobile Robotics and Intelligent Systems

2009

Vol. 3, No. 3

96-101

In this paper, a cooperative robot-robot approach to construct metallic structures is presented. In order to develop this task, a visual-force control system is proposed. The visual information is composed of an eye-in-hand camera, and a time of flight 3D camera. Both robots are equipped by a force sensor at the end-effector. In order to allow a human cooperate with both robots, an inertial motion capture system and an indoor localization system are em ployed. This multisensorial approach allows the robots to cooperatively construct the metallic structure in a flexible way and sharing the workspace with a human operator.

Morphological operations with subpixel resolution on digital images

Reinoso O., Sebastian J. M., Aracil R., Torres F.

Machine Graphics and Vision

2001

Vol. 10, No. 1

89-102

In many defect inspection systems computer vision pattern matching techniques are applied. These techniques require the use of different morphological operations. In many situations, pattern images generated by classical morphological operations do not allow to detect defects in images. Small defects of pixel size can also be left unnoticed when using such pattern images. The purpose of this paper is to combine classical morphological operations with a linear interpolation process on digital images to generate these pattern images. It is possible to employ structuring elements of any size to carry out morphological operations on continuous signals. However, on gigital images or discrete signals, the size of the structuring element should be greater than pixel size. The approach described in this paper applies classical morphological operations on reconstructed images at subpixel level to generate [pattern images. In such circumstances, we can compare this procedure with the effect produced by the use of structuring elements smaller than pixel size.