Perception of Entangled Tubes for Automated Bin Picking

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Leao, G (Author) Other; Costa, CM (Author) Other; Armando Jorge Sousa (Author) FEUP; Germano Veiga (Author) FEUP

Conference proceedings International

Title: FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 1

Pages: 619-631

4th Iberian Robotics Conference (Robot) - Advances in Robotics

Porto, PORTUGAL, NOV 20-22, 2019

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-00R-DRN

DOI: 10.1007/978-3-030-35990-4_50

Abstract (EN): Bin picking is a challenging problem common to many industries, whose automation will lead to great economic benefits. This paper presents a method for estimating the pose of a set of randomly arranged bent tubes, highly subject to occlusions and entanglement. The approach involves using a depth sensor to obtain a point cloud of the bin. The algorithm begins by filtering the point cloud to remove noise and segmenting it using the surface normals. Tube sections are then modeled as cylinders that are fitted into each segment using RANSAC. Finally, the sections are combined into complete tubes by adopting a greedy heuristic based on the distance between their endpoints. Experimental results with a dataset created with a Zivid sensor show that this method is able to provide estimates with high accuracy for bins with up to ten tubes. Therefore, this solution has the potential of being integrated into fully automated bin picking systems.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13