Improving the Image Accuracy for Grasping

Abstract

The paper concerns with a method based on Microsoft Visual Studio for processing the image received from the vision camera working on the gripper of the librarian robot. Based on the information converted from the accurate image, the gripper has to identify the book on the bookshelves. Moreover, the outer edges are the most important due to the working area required by the fingers. Meantime, the method should analyze the outer edge on the top too, so that the gripper should have enough room for working by pushing up the book. We have used the dynamic method for setting aside the computer memory. The image processing was focused on improving the contrast quality due to its importance for setting up the outer edges of the book, which should be retrieved.