Automatic Object Recognition as part of an Integrated Supervisory Control System

This paper consists of two main contributions. First, a generic object recognition algorithm based on affinely invariant regions is proposed. Next, this algorithm is used in an Integrated Supervisory Control System (ISCS), with special attention to the human machine interaction. Experiments on an industrial robotic system are included, performing simple tasks such as "Go to object O 1 " or "Put object O 2 on top of object O 3 ", where an object is simply modeled by one or more images thereof. 1 Introduction In a previous paper [7], a system to automatically find correspondences between two images of the same object or scene taken from different viewpoints was proposed in the context of visual homing. In order to be able to deal with large changes in viewpoint, the system makes use of local, affinely invariant regions. These are regions that depend on the underlying image intensities in such a way that they cover the same image content whatever affine transformation is applied to them..

Acta Universitatis Sapientiae - Electrical and Mechanical Engineering

Series Electrical and Mechanical Engineering publishes original papers and surveys in various fields of Electrical and Mechanical Engineering