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.
A Realistic Approach To Bin Picking
Intelligent Robots and Computer Vision ; 1984 ; Cambridge,United States
Proc. SPIE ; 0521
1985-01-17
Conference paper
Electronic Resource
English
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