A pragmatic 3D visual method is proposed to solve the bin-picking problem. In this approach the localisation and the recognition of an object are done in two steps. The first step consists in finding a simple 3D description of the scene : 3D measurements are provided by a triangulation based range finder ( the sensor consists of a laser plane, deflected by a mirror mounted on a galvanometer, and a camera observing the intersection of the scene and the laser plane). Then the scene's surface is represented by flat regions. In the second step one tries to find a grasping site that the gripper of the robot can fit, following a collision free trajectory.


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    Titel :

    A Realistic Approach To Bin Picking


    Beteiligte:
    Laethem, D. V. (Autor:in) / Bogaert, M. (Autor:in) / Ledoux, O. (Autor:in)

    Kongress:

    Intelligent Robots and Computer Vision ; 1984 ; Cambridge,United States


    Erschienen in:

    Erscheinungsdatum :

    1985-01-17





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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