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Development and Evaluation of a Visual Feature Recognition Framework for a Robotic Assembly System
We are developing a robotic micro-assembly system. The camera system integrated therein shall be paired with a feature recognition framework to provide the user with information on part geometry and size, and to allow for visual servoing. Your task would be to develop and evaluate such a framework.
In the last few decades, miniaturization has been observed to be one of the main driving forces in various
sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence,
considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a
robotic assembly station including a camera system with a visual or visuo-haptic user interface to control and monitor the assembly process. In the scope of an ongoing research project, we are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.
In the last few decades, miniaturization has been observed to be one of the main driving forces in various
sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence,
considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a
robotic assembly station including a camera system with a visual or visuo-haptic user interface to control and monitor the assembly process. In the scope of an ongoing research project, we are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.
The camera feed provided to the user to monitor the assembly process can additionally be used
to automatically recognize, measure, and track specific features of mechanical and electronic assembly parts such as
threads, holes, or solder pads. This information can then be supplied to the user for instance as an overlay
on top of the camera feed, or it can be used to automate certain assembly steps through visual servoing. Your task
will be to devise and implement a first visual feature recognition framework utilizing basic edge detection to
identify elemental geometries, to then extend this framework towards more complex features encountered in the given
micro-assembly application, and to supply the generated information to the user in an intuitive way. The thesis will
be concluded by demonstrating functionality of your framework through a realistic test scenario.
The camera feed provided to the user to monitor the assembly process can additionally be used
to automatically recognize, measure, and track specific features of mechanical and electronic assembly parts such as
threads, holes, or solder pads. This information can then be supplied to the user for instance as an overlay
on top of the camera feed, or it can be used to automate certain assembly steps through visual servoing. Your task
will be to devise and implement a first visual feature recognition framework utilizing basic edge detection to
identify elemental geometries, to then extend this framework towards more complex features encountered in the given
micro-assembly application, and to supply the generated information to the user in an intuitive way. The thesis will
be concluded by demonstrating functionality of your framework through a realistic test scenario.
2021_MT_DevelopmentAndEvaluationOfAVisualFeatureRecognitionFrameworkForARoboticAssemblySystem.pdf
