Experiment 1 2D Matching Hardware Development and Experimental Works

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4.2.1 Experiment 1 2D Matching

The first experiment is done by recognizing object going to process in the first place. In this research, object pyramid had been stressed to be used because of its contour and shape consists of width, length and height. The object pyramid is developed using plain cardboard as shown in figure below. This experimental is based on the shape characteristic of the object. Better the template creation create in training phase will result to better recognition rate also known as Score. This experiment will consist of two phases known as training and recognition phase. Training phase will require important step in creating and developing image template while recognition phase will call back image template to be comparing with the process object to identify whether it’s the right object to be processed. The experimental setup consists of one camera, object pyramid and KUKA arm robot in home position as shown in Figure 4.7. The objectives for this experimental has divided into two characteristics: Figure 4.6: Object Pyramid Developed using Plain Cardboard 15 cm 15 cm 99 1. To create model template in training phase to be match in recognition phase. 2. To test 50 pyramid images to identify the effectiveness of this system in classifying correct image being process or not in recognition phase. In this experiment, before the experiment start, template of object pyramid being trained according to the original specification of object used. The template creation then being saves into the system memory before it will call back in recognition phase. After that, object pyramid is put into the workspace for starting the experiment procedure. By clicking the button ‘Start’, Camera 1 will trigger and capture image instantaneously and show it in display window. The system automatically starts classifying object by comparing image template with the image taken directly from Camera 1. The process will take through in defining whether the object process is the correct object or not. If yes, the system will go through to the next process and data recorded as accepted object in the system. If no, the object is rejected and recorded as rejected object in the system. The process of 2D matching will continue with another object. Figure 4.7: 2D Matching Experimental Setup 100

4.2.2 Experiment 2 Classification of Types of Defect