A Robust Robot Vision Against the Change of Lightning Condition Using Wide Dynamic Range Vision Sensor

摘要

We have developed a robust vision system for 2D positioning of industrial parts against the change of lighting condition. A wide dynamic range vision sensor, we had developed previously, was used to avoid the saturation of images of the objects. Additionally, a gray scale pattern matching technique was employed for the robust image processing. Performance of the developed system with the wide dynamic range vision sensor was investigated experimentally in comparison with that of the system with a conventional video camera.