Wrist Camera Instruction Manual
5.1. Guidelines on Object Teaching
Info
During the object teaching, the ambient light must be approximately 500 lux, and stable.
At runtime, this condition is not required.
The following must be considered when going through the object teaching process :
l Objects criteria for reliable localization:
l Object is quasi-flat, respecting a maximum ratio of 1:1 between its height and its smallest dimension; please refer
to the Vision System Specifications section for more details.
l Top surface is mostly flat.
l Object has a distinctive shape and distinctive features.
Info
Distinctive shape would mean an object contour that displays a sharp contrast with the background, and that
is ideally not symmetric. Distinctive features are shapes present within the contour of the object that the
vision system will be able to identify, such as holes, drawings, color contrasts,etc.
l Object is not highly reflective
l Object is not transparent
Tip
When teaching reflective objects, the user can turn the LEDs OFFto avoid bright spots contrasting with the actual
color of the object.
l Choosing the appropriate background:
l Workplane around the object must be planar, mostly uniform and clear of any other objects.
l At runtime, the work space conditions can change, the object detection threshold can be used to adjust
detection settings according to those conditions; refer to the Detection thresholds and scores section for
details.
l The background around the object must be a uniform, continuous shape with a single color.
Caution
From the vision system's point of view, white, gray and black are all gradients of gray. Avoid using a black
background to teach metal objects. The model would be a pale gray object on a dark gray background and
would therefore result in errors.
©Robotiq inc. 2016-2018
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