Ham 火腿、香腸

[2021] Find the centroid: A vision‐based approach for optimal object grasping

This article aims to develop an automated system that can integrate data processing and packaging operations. Notably, the inspection system can capture the geometric properties of an ellipsoidal ham and thus can be grasped by the robotic arm. Prior to the centroid detection, a series of instant segmentation procedures is introduced to determine the position of the object, which incorporates both the object localization and semantic segmentation processes. As a result, the proposed model yields a promising segmentation accuracy when experimented on the ham dataset that consists of 293 images. The best Sørensen–Dice coefficient achieved is 91%, which indicates the compelling performance. To further verify the effectiveness of the proposed framework, quantitative and qualitative visualization are presented to demonstrate the quality of the image segmentation task.

[2021] A statistical approach in enhancing the volume prediction of ellipsoidal ham

This work focused on the ham’s position in the horizontal viewpoint. An industrial robotic arm was utilized to lift the ham object and rotate it at a fixed controlled speed to maximize data consistency. Then, a Mask Region based convolutional neural network approach was used to extract the ham object’s features. Experiments were conducted on 16 newly collected ham datasets. In this paper, performance comparisons between this and the previous work were reported and detailed analyses presented. Particularly, three numerical algorithms (i.e., based on the minor axis, Y-direction, and k-nearest neighbor) were introduced to enhance volume prediction in the two databases. The new algorithm exhibited a 27% higher performance than that of the previous work’s algorithm. Related theoretical and conceptual frameworks were discussed to further provide evidence and insights on the proposed mechanism.

[2019] Automatic Surface Area and Volume Prediction on Ellipsoidal Ham using Deep Learning

We address the estimation task with a Mask Region-based CNN (Mask R-CNN) approach, which well performs the ham detection and semantic segmentation from a video. The experimental results demonstrate that the algorithm proposed is robust as promising surface area and volume estimation are obtained for two angles of the ellipsoidal ham (i.e., horizontal and vertical positions). Specifically, in the vertical ham point of view, it achieves an overall accuracy of up to 95% whereas the horizontal ham reaches 80% of accuracy.