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.