RECOGNITION OF THE STACKED OBJECTS FOR BIN PICKING

被引：0
|
作者：
Hikizu, M. [1 ]
Mikami, S. [1 ]
Seki, H. [1 ]
机构：
[1] Kanazawa Univ, Sch Mech Engn, Kakuma Machi, Kanazawa, Ishikawa 9201192, Japan
来源：
INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS | 2016年 / 9卷 / 03期
关键词：
Recognition; laser range finder (LRF); 3-D point cloud; bin picking; stacked objects;
D O I：
10.21307/ijssis-2017-913
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we propose recognition method of the stacked objects for pick-and-place motion. The situation that the objects are stacked miscellaneously in the home is assumed. In the home, the equipment to arrange the objects doesn't exist. Therefore it's necessary to recognize the stacked objects respectively. In this paper, Information on the objects are measured by a laser range finder (LRF). Those information is used as 3-D point cloud, and the objects are recognized by model-base. A local minimum problem exists in recognition of the objects. We propose the method to recognize the stacked objects statistically using multiple recognition result. Avoidance of the local minimum problem and the segmentation of each objects are performed by recognizing statistically.
引用
收藏
页码：1177 / 1188
页数：12
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