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Optimal Location of Protective Devices Using Multi-objective Approach Read chapter Read first chapter

2018 | OriginalPaper | Chapter

3D Object Pose Estimation for Robotic Packing Applications

Authors : C. H. Rodriguez-Garavito, Guillermo Camacho-Munoz, David Álvarez-Martínez, Karol Viviana Cardenas, David Mateo Rojas, Andrés Grimaldos

Published in: Applied Computer Sciences in Engineering

Publisher: Springer International Publishing

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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.

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Metadata
Title
3D Object Pose Estimation for Robotic Packing Applications
Authors
C. H. Rodriguez-Garavito
Guillermo Camacho-Munoz
David Álvarez-Martínez
Karol Viviana Cardenas
David Mateo Rojas
Andrés Grimaldos
Copyright Year
2018
Book
Applied Computer Sciences in Engineering

Print ISBN: 978-3-030-00352-4

Electronic ISBN: 978-3-030-00353-1

Copyright Year: 2018

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

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