Solving jigsaw puzzles by a robot

An integrated vision-manipulation algorithm for assembly of apictorial jigsaw puzzles is presented. A discussion is presented of the solution of large jigsaw puzzles using vision, combinatorial optimization, and fine assembly techniques. The implementations of a vision algorithm for assembly of large jigsaw puzzles and a fully integrated robotic-vision algorithm for assembly of small puzzles are presented. The problem of assembling pieces with unpredictable shape is discussed. >

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