Object Recognition Systems, Inc.

Rajarshi Ray

Joseph Wilder

A robotic apparatus and method of acquiring jumbled objects or workpieces from a bin, and transferring them to a final site, or to an intermediate site for quality inspection. A video camera system produces a video signal representing a brightness image of the jumbled objects. An intermediate amplitude range of the video signal is selected, expanded, stored, and quantized into digital pixels. A computer enhances the image using histogram techniques, performs edge suppression, performs repeated shrinking with progressively-increased pixel thresholds until an area limit is reached, performs clustering of closely-spaced pixels, and commands movement of the robot gripper to a computed grip site on a recognized object. The gripper may limit its gripping pressure as a function of the deformation of the object gripped.

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Plainsboro, NJ, United States of America

Rajarshi Ray