Bin object recognition using image matrix decomposltion and neural networks

Abstract EN

Bin picking robots require vision sensors capable of recognizing objects in the bin irrespective of the orientation and pose of the objects inside the bin.

Bin picking systems are still a challenge to the robot vision research community due to the complexity of segmenting of occluded industrial objects as well as recognizing the segmented objects which have irregular shapes.

The problem becomes more complex when these objects look like entirely different objects in various orientations.

In this paper a simple object recognition method is presented using singular value decomposition of the object image matrix and a functional link neural network for a bin picking vision system.

The results of the functional link net are compared with that of a simple feed forward net.

The network is trained using the error back propagation procedure.

The proposed method is robust for recognition of objects.