Title

3D Object Pose Estimation for Robotic Packing Applications

DOI

https://doi.org/10.1007/978-3-030-00353-1_40

Document Type

Conference Proceeding

Publication Date

1-1-2018

Publication Title

Communications in Computer and Information Science

Abstract

Given the growth of internet-based trading on a global level, there are several expected logistic challenges regarding the optimal transportation of large volumes of merchandise. With this in mind, the application of technologies such as computer vision and industrial robotics in facing these challenges presents significant advantages regarding the speed and reliability with which palletization tasks, a critical point in the merchandise transportation chain, can be performed. This paper presents a computer vision strategy for the localization and recognition of boxes in the context of a palletization process carried out by a robotic manipulator. The system operates using a Kinect 2.0 depth camera to capture a scene and processing the resulting point cloud. Obtained results permit the simultaneous recognition of up to 15 boxes, their position in space and their size characteristics within the workspace of the robot, with an average error of approximately 3 cm.

Volume

916

First Page

453

Last Page

463

ISSN

18650929

ISBN

9783030003524

Identifier

SCOPUS_ID:85053994760

Documento original

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