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Bin-Picking

New Approaches for a Classical Problem

(Autor)

Buch | Hardcover
XV, 117 Seiten
2015 | 1st ed. 2016
Springer International Publishing (Verlag)
978-3-319-26498-1 (ISBN)

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Bin-Picking - Dirk Buchholz
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This bookis devoted to one of the most famous examples of automation handling tasks -the "bin-picking" problem. To pick up objects, scrambled in a box is aneasy task for humans, but its automation is very complex. In this book threedifferent approaches to solve the bin-picking problem are described, showinghow modern sensors can be used for efficient bin-picking as well as how classicsensor concepts can be applied for novel bin-picking techniques. 3D pointclouds are firstly used as basis, employing the known Random Sample Matchingalgorithm paired with a very efficient depth map based collision avoidancemechanism resulting in a very robust bin-picking approach. Reducing thecomplexity of the sensor data, all computations are then done on depth maps.This allows the use of 2D image analysis techniques to fulfill the tasks andresults in real time data analysis. Combined with force/torque and accelerationsensors, a near time optimal bin-picking system emerges. Lastly, surfacenormalmaps are employed as a basis for pose estimation. In contrast to knownapproaches, the normal maps are not used for 3D data computation but directlyfor the object localization problem, enabling the application of a new class ofsensors for bin-picking.

Introduction - Automation and the Need for Pose Estimation.- Bin-Picking - 5 Decades of Research.- 3D Point Cloud Based Pose Estimation.- Depth Map Based Pose Estimation.- Normal Map Based Pose Estimation.- Summary and Conclusion.

Erscheinungsdatum
Reihe/Serie Studies in Systems, Decision and Control
Zusatzinfo XV, 117 p. 63 illus., 23 illus. in color.
Verlagsort Cham
Sprache englisch
Maße 155 x 235 mm
Gewicht 354 g
Themenwelt Informatik Grafik / Design Digitale Bildverarbeitung
Informatik Theorie / Studium Künstliche Intelligenz / Robotik
Technik Elektrotechnik / Energietechnik
Schlagworte 3D Point Clouds • artificial intelligence (incl. robotics) • Bin-Picking • Computational Intelligence • computer vision • Depth Maps • Engineering • Image Analysis • image processing and computer vision • Industrial Robotics • Normal Maps • object localization • pose estimation • Robotics and Automation
ISBN-10 3-319-26498-2 / 3319264982
ISBN-13 978-3-319-26498-1 / 9783319264981
Zustand Neuware
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