ISSN:
0144-5154
Source:
Emerald Fulltext Archive Database 1994-2005
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
This paper describes an imaging system that was developed to aid industrial bin picking tasks. The purpose of this system was to provide accurate 3D models of parts and objects in the bin, so that precise grasping operations could be performed. The technology described here is based on two types of sensors: range mapping scanners and video cameras. The geometry of bin contents was reconstructed from range maps and modeled using superquadric representations, providing location and parts surface information that can be employed to guide the robotic arm. Texture was also provided by the video streams and applied to the recovered models. The system is expected to improve the accuracy and efficiency of bin sorting and represents a step toward full automation.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1108/01445150310460097
