Vision-based robotic system for object agnostic placing operations

Nikolaos Rofalis, Lazaros Nalpantidis, Nils Axel Andersen, Volker Kriger

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Industrial robots are part of almost all modern factories. Even though, industrial robots nowadays manipulate objects of a huge variety in different environments, exact knowledge about both of them is generally assumed. The aim of this work is to investigate the ability of a robotic system to operate within an unknown environment manipulating unknown objects. The developed system detects objects, finds matching compartments in a placing box, and ultimately grasps and places the objects there. The developed system exploits 3D sensing and visual feature extraction. No prior knowledge is provided to the system, neither for the objects nor for the placing box. The experimental evaluation of the developed robotic system shows that a combination of seemingly simple modules and strategies can provide effective solution to the targeted problem.
Original languageEnglish
Title of host publicationVISIGRAPP 2016. 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
PublisherSCITEPRESS Digital Library
Publication date2016
Pages467-75
ISBN (Print)9789897581755
DOIs
Publication statusPublished - 2016
Event11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP) - Rome, Italy
Duration: 27 Feb 201629 Feb 2016

Conference

Conference11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP)
Country/TerritoryItaly
CityRome
Period27/02/201629/02/2016

Keywords

  • Image recognition
  • Control in industrial production systems
  • Computer vision and image processing techniques
  • Robotics
  • Manufacturing facilities
  • image matching
  • industrial robots
  • production facilities
  • robot vision
  • modern factories
  • visual feature extraction
  • 3D sensing
  • matching compartments
  • environment unknown object manipulation
  • object agnostic placing operations
  • vision-based robotic system

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