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 language | English |
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Title of host publication | VISIGRAPP 2016. 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications |
Publisher | SCITEPRESS Digital Library |
Publication date | 2016 |
Pages | 467-75 |
ISBN (Print) | 9789897581755 |
DOIs | |
Publication status | Published - 2016 |
Event | 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP) - Rome, Italy Duration: 27 Feb 2016 → 29 Feb 2016 |
Conference
Conference | 11th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP) |
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Country/Territory | Italy |
City | Rome |
Period | 27/02/2016 → 29/02/2016 |
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