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Experimental Robotics V pp 361–372Cite as

An experimental system for automated paper recycling

  • Chapter 8 Sensor Data Fusion
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

This paper presents the experimental aspects of a robotic system used for detection, sorting and grading of paper objects from visual features. The experimental system is used as an automated paper recycling system. The system uses simplified stereo vision to compute position estimate of unknown objects. A vector of geometrical and textural features is used for sorting the paper, according to its grade. The grading process uses additional contact sensors for refining grading from visual features. Supervised learning is used for training the decision system to separate paper from other objects. The experimental aspects of the training process are presented in detail. A special vacuum gripper was designed for gripping paper objects detected by the vision system. The experimental results prove the efficiency of the proposed techniques.

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Author information

Authors and Affiliations

  1. Robotics and Automation Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada

    S. Faibish, H. Bacakoglu & A. A. Goldenberg

Authors
  1. S. Faibish
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  2. H. Bacakoglu
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  3. A. A. Goldenberg
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Faibish, S., Bacakoglu, H., Goldenberg, A.A. (1998). An experimental system for automated paper recycling. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112976

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  • DOI: https://doi.org/10.1007/BFb0112976

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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