Robotic vision system for random bin picking with dual-arm robots

Fast Object Registration and Robotic Bin Picking

Businesses have invested a lot of money into intelligent machine vision, industrial robotics and automation technology. The proposed solution of this paper deals with industrial applications of robotic bin picking. In this paper, a pose estimation approach is introduce to determine the coarse position and rotation of a known object using commonly available image processing tools applied to 3D l...

Progressive Mesh based Iterative Closest Points for Robotic Bin Picking

This paper describes a hierarchical registration process using the iterative closest point algorithm combined with a Progressive Mesh. To find the exact pose of objects in a robotic bin picking process we simulate the appearance of object poses and compare them with the real range data provided by laser range sensors. The coarse pose is estimated in a first step and then refined with the well k...

Fast object localization and pose estimation in heavy clutter for robotic bin picking

We present a practical vision-based robotic bin-picking system that performs detection and 3D pose estimation of objects in an unstructured bin using a novel camera design, picks up parts from the bin, and performs error detection and pose correction while the part is in the gripper. Two main innovations enable our system to achieve real-time robust and accurate operation. First, we use a multi...

Development and Evaluation of a Kinect based Bin-Picking System

Benchmarking dexterous dual-arm/hand robotic manipulation

DEXMART is a European large-scale integrating project (IP) funded in the Seventh Framework Programme. The acronym stands for DEXterous and autonomous dual-arm/hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition. The project is focused on artificial systems reproducing smart sensory-motor human skills, which operate in unstructured real-world ...