Image modelling in real time using spheres and simple polyhedra

David Sanders, P. Harris, Ebrahim Mazharsolook

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    The modern industrial environment includes static and dynamic objects. It consists of moving machinery, robots, objects to be manipulated and obstacles to be avoided. The free space available to the moving machinery and robots depends on the accuracy of the models used for this changing environment. In the paper, two models are compared for use with a novel image modelling system working in real time. The system consists of a dynamic `World Model' updated by a vision system and is described fully in Sanders et al. (1991) and Sanders (1990). This supplies data to a `Path Planner' and `Path Improver'. The Path Planner contains a geometric model of the static environment and a robot. Given a task, the Path Planner calculates an efficient collision free path for the robot. This is passed to a control computer where a trajectory is generated and a robot completes the task
    Original languageEnglish
    Title of host publicationInternational Conference on Image Processing and its Applications, 1992
    EditorsH. Schroder
    Place of PublicationStevenage
    PublisherIET Conference Publications
    Pages433 - 436
    ISBN (Print)0852965435
    Publication statusPublished - 1992
    EventInternational Conference on Image Processing and its Applications - Holland, Maastricht , United Kingdom
    Duration: 7 Apr 19929 Apr 1992


    ConferenceInternational Conference on Image Processing and its Applications
    Country/TerritoryUnited Kingdom


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