Goods contour detection and positioning by a vision robot

A new method of goods contour detection and positioning by a vision robot was proposed.Based on image pre-processing and the Sobel operator,the edge of goods and its container I1[i,j] was detected.The goods-supporting area and its edge image I2[i,j] were calculated by image projection.Then another goods-supporting area's edge image I3[i,j] was obtained according to the Canny operator and the breakpoints in I2[i,j] were connected by comparing with I3[i,j].Finally,the contour was extracted by the contour extraction method to locate the target and the robot was controlled to pick the goods.The experiments show that the method is effective and reliable.