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Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System
(1984-08-01)
This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface ...
Picking Up an Object from a Pile of Objects
(1983-05-01)
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo method generates ...