Vision Algorithm For Finding Holes
Robert B. Kelley, P. Gouin · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1985
Usually, to find a hole in an image, its shape must he known and corrections made to account for perspective distortion or hole surface orientation. Not so with this algorithm. As a heuristic vision algorithm, this hole finder seeks edge patterns which correspond to holes -- any promising holes. The algorithm uses neighborhood operators applied in both horizontal and vertical strips to locate the hole centers. The power of the heuristic approach lies in the fact that these algorithms can be uninformed about the nature of the part itself. Yet, a robot can be directed to pick up the part using the hole to grasp it.