Bin-picking with a solid state range camera

Citation
S. Kristensen et al., Bin-picking with a solid state range camera, ROBOT AUT S, 35(3-4), 2001, pp. 143-151
Citations number
10
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICS AND AUTONOMOUS SYSTEMS
ISSN journal
09218890 → ACNP
Volume
35
Issue
3-4
Year of publication
2001
Pages
143 - 151
Database
ISI
SICI code
0921-8890(20010630)35:3-4<143:BWASSR>2.0.ZU;2-B
Abstract
In this paper we present new work done on the bin-picking problem. The work was triggered by the advent of a new solid state range camera which enable s the economic and robust use of range imagery in industrial robotic automa tion tasks. The application presented is that of pick-and-place of randomly oriented but known polyhedral objects in an industrial robotic work cell. The algorithms for segmentation, pose estimation, and grasp point determina tion are presented along with practical results from a real industrial grad e work cell. (C) 2001 Elsevier Science B.V. All rights reserved.