A Realistic Approach To Bin Picking

D. Van Laethem; M. Bogaert; O. Ledoux

doi:10.1117/12.946168

17 January 1985 A Realistic Approach To Bin Picking

D. Van Laethem, M. Bogaert, O. Ledoux

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946168
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

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.

Citation Download Citation

D. Van Laethem, M. Bogaert, and O. Ledoux "A Realistic Approach To Bin Picking", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946168

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