• Patel Sachin Mahendrabhai
• Ashish M. Thakkar

The futuristic vision of using industrial robotic systems that work in complex, uncertain and diverse environments is beginning to become reality because of advances in computational means, innovative sensors and controllers as well as introduction of concept of Industry 4.0. This paper proposed a novel and efficient approach for developing the integrated Vision System for sorting application. This paper discusses the implementation of a sorting methodology for standard shaped objects using single camera. The general architecture of Vision System that is based on the digital image processing is elaborated. The sorting methodology for sorting the objects based on shape and size include 3 extracted variables including Area Ratio or Extent, Compactness and two side edge length difference. The developed sorting methodology is applied successfully to sort square, rectangle, circle and hexagon shaped objects. According to this sorting methodology program is developed for object detection as well as recognition with the help of image processing toolbox of MATLAB. To extract the world co-ordinates of detected objects various camera calibration techniques are studied and camera calibration is carried out by adopting Pinhole Projection model. Evaluation of vision system is carried out by finding average error in percentage for position and orientation of detected objects.

Vision system, Image Processing, Camera Calibration, Object Detection and Recognition

"Implementation of Vision System for Object Sorting Application", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.70-77, May-2019, Available :http://www.jetir.org/papers/JETIR1905D12.pdf

"Implementation of Vision System for Object Sorting Application", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp70-77, May-2019, Available at : http://www.jetir.org/papers/JETIR1905D12.pdf