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Title: Machine Vision for Object Detection and Profiling in an Unstructured Environment

Abstract

The Handling and Sorting System for 55-Gallon Drums (HANDSS-55) is a DOE project to develop an automated method for retrieving items that are not acceptable at the Waste Isolation Pilot Plant (WIPP) from 55-gallon drums of low-level waste. The HANDSS-55 is a modular system that opens drums, sorts the waste, and then repackages the remaining waste in WIPP compliant barrels. The Sorting Station module relies on a non-contact measurement system to quickly provide a 3D profile of the sorting area. It then analyses the 3D profile and a color image to determine the position and orientation of an operator selected waste item. The item is then removed from the sorting area by a robotic arm. The use of both image and profile information for object determination provides a fast, effective method of finding and retrieving selected objects in the unstructured environment of the sorting module.

Authors:
;
Publication Date:
Research Org.:
Idaho National Engineering and Environmental Laboratory, Idaho Falls, ID (US)
Sponsoring Org.:
USDOE Office of Environmental Management (EM) (US)
OSTI Identifier:
797097
Report Number(s):
INEEL/CON-02-00161
TRN: US0201791
DOE Contract Number:  
AC07-99ID13727
Resource Type:
Conference
Resource Relation:
Conference: Spectrum 2002, Reno, NV (US), 08/04/2002--08/08/2002; Other Information: PBD: 23 May 2002
Country of Publication:
United States
Language:
English
Subject:
12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; COLOR; DETECTION; ORIENTATION; SORTING; WASTES; WIPP; HANDSS-55; AUTOMATED METHOD; 55-GALLON DRUMS; LOW-LEVEL WASTE; RETRIEVING

Citation Formats

Kinoshita, R.A., and Walton, M.C. Machine Vision for Object Detection and Profiling in an Unstructured Environment. United States: N. p., 2002. Web.
Kinoshita, R.A., & Walton, M.C. Machine Vision for Object Detection and Profiling in an Unstructured Environment. United States.
Kinoshita, R.A., and Walton, M.C. Thu . "Machine Vision for Object Detection and Profiling in an Unstructured Environment". United States. https://www.osti.gov/servlets/purl/797097.
@article{osti_797097,
title = {Machine Vision for Object Detection and Profiling in an Unstructured Environment},
author = {Kinoshita, R.A. and Walton, M.C.},
abstractNote = {The Handling and Sorting System for 55-Gallon Drums (HANDSS-55) is a DOE project to develop an automated method for retrieving items that are not acceptable at the Waste Isolation Pilot Plant (WIPP) from 55-gallon drums of low-level waste. The HANDSS-55 is a modular system that opens drums, sorts the waste, and then repackages the remaining waste in WIPP compliant barrels. The Sorting Station module relies on a non-contact measurement system to quickly provide a 3D profile of the sorting area. It then analyses the 3D profile and a color image to determine the position and orientation of an operator selected waste item. The item is then removed from the sorting area by a robotic arm. The use of both image and profile information for object determination provides a fast, effective method of finding and retrieving selected objects in the unstructured environment of the sorting module.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2002},
month = {5}
}

Conference:
Other availability
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