Matched Filters for Bin Picking

Dessimoz, Jean-Daniel; Birk, John R.; Kelley, Robert B.; Martins, Henrique A. S.; Lin, Chi Ho

doi:10.1109/tpami.1984.4767593

Cited by 20 publications

(3 citation statements)

References 5 publications

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“…Several methods for workpiece acquisition reframe the problem as the identification of potential grasping or hold sites based on the local shape of objects, without explicitly segmenting an individual workpiece from the pile. For example, Kelley et al [1] describes vision algorithms for identifying smooth surfaces suitable for vacuum grippers or hold sites for parallel jaw grippers (see also [2]). More recently, this approach of matching or filtering surface features for a particular gripper geometry was also achieved using 3D range data and the PR2 grippers for a cashier checkout operation [3].…”

Section: Related Workmentioning

confidence: 99%

Interactive singulation of objects from a pile

Chang

Smith

Fox

2012

2012 IEEE International Conference on Robotics and Automation

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Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined with pushing actions accumulates evidence of singulated items over multiple pile interactions. A decision module scores the likelihood of a single-item pile to a multiple-item pile based on the magnitude of motion and matching determined from the perception module. Three variations of the singulation framework were evaluated on a physical robot for an arrangement task. The proposed interactive singulation method with adaptive pushing reduces the grasp errors on non-singulated piles compared to alternative methods without the perception and decision modules. This work contributes the general pile interaction framework, a specific method for integrating perception and action plans with grasp decisions, and an experimental evaluation of the cost trade-offs for different singulation methods.

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Section: Related Workmentioning

confidence: 99%

Interactive singulation of objects from a pile

Chang

Smith

Fox

2012

2012 IEEE International Conference on Robotics and Automation

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“…Here, the pose estimation will be considered in more detail. Dessimoz et al (1984) complement an old concept called matched filters. The robot end‐effector determines the part of the object that is likely to be grasped successfully.…”

Section: Introductionmentioning

confidence: 99%

Introducing a new 3D ordering process for discrete food products using food categorisation

Würdemann

Aminzadeh

Dai³

et al. 2010

Industrial Robot: An International Journal

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PurposeThis paper aims to introduce and identify a new 3D handling operation (bin picking) for natural discrete food products using food categorisation.Design/methodology/approachThe research shows a new food categorisation and the relation between food ordering processes and food categories. Bin picking in the food industry needs more flexible vision software compared to the manufacturing industry in order to decrease the degree of disarray of food products and transfer them into structure.FindingsIt has been shown that there are still manual operated ordering processes in food industry such as bin picking; it just needs new ideas of image processing algorithms such as active shape models (ASMs) on its development in order to recognise the highly varying shapes of food products.Research limitations/implicationsThis research was aimed at locating a new ordering process and proving a new principle, but for practical implementation this bin picking solution needs to be developed and tested further.Originality/valueIdentifying new ordering processes via food categorisation is unique and applying ASMs to bin picking opens a new industrial sector (food industry) for 3D handling.

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“…The bin of parts problem has been a research issue in the area of automation for quite a few years [4,5,6,7,9]. The problem is to discover general methods which enable a computer-controlled industrial manipulator, or robot, to acquire a part from a bin or heap of randomly placed identical parts.…”

Section: Introductionmentioning

confidence: 99%

A fuzzy logic based bin picking technique

Kim

Suh

Kim³

Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation

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A novel 2-dimenSional matched filter of the parallel jaw type using fuzzy logics is proposed for bin-picking. Specifically, averaged pixel intensity of the windowed region for the ateri ng is and brightness are designed by employing the intensity histogram of image. Then a rule is given to know how much a windowed region can be a possible holdiste. Furthermore eight rules are made to determine the part orientation, where Mamdani's reasoning method is applied.To show the validities of our proposed technique, some experimental results are illustrated and compared with the results by conventional matched filtering technique-.considered to be fuzzy. Also memership functions for darlmss

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Matched Filters for Bin Picking

Cited by 20 publications

References 5 publications

Interactive singulation of objects from a pile

Interactive singulation of objects from a pile

Introducing a new 3D ordering process for discrete food products using food categorisation

A fuzzy logic based bin picking technique

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