Fraunhofer-Institut für Informations- und Datenverarbeitung (IITB)
Fraunhoferstr. 1, 76131 Karlsruhe, Bereich Kognitive Systeme (KOGS)

VISDOM - Visually Servoed Dismantling Operations on Used Cars

Dismantling operation in the engine compartment of a used car

Dismantling two blocks	Loosening screws	Gripping upper block

Controlling the gripper	Gripping the battery	Tracking battery and gripper

The Name

VISDOM is an acronym standing for

Visually
Servoed
Dismantling
Operations of used
Mobile vehicles

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Description

VISDOM is a program system created for dismantling tasks. These tasks are controlled by machine vision using tracking processes in the 3D scene domain. For a detailed description of the tracking and the controlling processes see [Tonko 97] and other literature on our publication page.

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Applications

VISDOM can not only operate in a relatively simple laboratory scene, where two blocks have to be dismantled by loosening two fixing screws, but in addition also in a much more complex scene, namely in the engine compartment of a used car, where car parts like the battery have to be gripped by a dismantling robot and moved out of the engine compartment.

As an additional application, the automatic localization and tracking of ship parts is examined in the scope of the VIGOR project. A video sequence showing a mockup tracked real-time can be found at http://i21www.ira.uka.de/visdom/tracking.html.

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Contact

• Prof. Dr. Hans-Hellmut Nagel, +49 (0) 721 / 608-4323
  nagel@ira.uka.de
• Alexander Bachem
  
• Thomas Müller
  

Fraunhofer-Institut für
Informations- und Datenverarbeitung (IITB)
Fraunhoferstr. 1
D-76131 Karlsruhe/Germany

Telefax: +49 (0) 721 / 6091-524

in cooperation with

Institut für Algorithmen und Kognitive Systeme
Fakultät für Informatik der Universität Karlsruhe (TH)
Postfach 6980
D-76128 Karlsruhe/Germany