Cristin-resultat-ID: 983954
Sist endret: 11. mars 2016, 13:52
NVI-rapporteringsår: 2012
Resultat
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
2012

A Flexible 3D Object Localization System for Industrial Part Handling

Bidragsytere:
  • Øystein Skotheim
  • Morten Lind
  • Pål Ystgaard og
  • Sigurd Aksnes Fjerdingen

Bok

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, Vilamoura-Algarve, Portugal,7-12 Oct. 2012
ISBN:
  • 978-1-4673-1737-5

Utgiver

IEEE conference proceedings
NVI-nivå 1

Serie

IEEE International Conference on Intelligent Robots and Systems. Proceedings
ISSN 2153-0858
e-ISSN 2153-0866
NVI-nivå 1

Om resultatet

Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Publiseringsår: 2012
Hefte: 2012
Sider: 3326 - 3333
ISBN:
  • 978-1-4673-1737-5

Klassifisering

Fagfelt (NPI)

Fagfelt: IKT
- Fagområde: Realfag og teknologi

Beskrivelse Beskrivelse

Tittel

A Flexible 3D Object Localization System for Industrial Part Handling

Sammendrag

We present a flexible system that can scan and localize work pieces in 3D for assembly and pick and place operations. The system contains a vision robot that acquires 3D point clouds by performing sweeps with a laser triangulation sensor. Because the sensor is mounted on a robot, we can choose a viewpoint and a scanner trajectory that is optimal for a given task. For example, we can sweep along a semi-circular trajectory in order to recognize and grasp parts from a pallet. With the same vision robot, we can perform a sweep of the packaging container in order to recognize and manipulate elements of cardboard. The system also incorporates software that recognizes and localizes objects based on an acquired 3D point cloud and a CAD model of the object to search for. The core matching algorithm is based on oriented point pairs and a Hough-like voting scheme. The method has been improved with a robust clustering algorithm as well as methods for pose verification and pose refinement that significantly increase the accuracy and robustness of the system. As an application of the system, an industrial prototype work cell is presented. The task is to recognize, grasp and transfer parts of office chairs, such as seats, seat backs and armrests, from a pallet to a cardboard container. It demonstrates how the vision system is easily set up to recognize three different components by using CAD models. The prototype work cell further demonstrates how the pose estimation results can be fed directly to a separate handling robot in order to grasp a chair seat. A series of ten experiments was performed where the chair seat was placed in arbitrary poses in the pallet. Pose estimations were performed in just over one second per experiment, and the obtained accuracy was well within the tolerances for the grasp operation in all ten cases.

Bidragsytere

Øystein Skotheim

  • Tilknyttet:
    Forfatter
    ved Smart Sensors and Microsystems ved SINTEF AS

Morten Lind

  • Tilknyttet:
    Forfatter
    ved SINTEF Manufacturing

Pål Ystgaard

  • Tilknyttet:
    Forfatter
    ved SINTEF Manufacturing

Sigurd Aksnes Fjerdingen

  • Tilknyttet:
    Forfatter
    ved Mathematics and Cybernetics ved SINTEF AS
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, Vilamoura-Algarve, Portugal,7-12 Oct. 2012.

IEEE, .. 2012, IEEE conference proceedings. Vitenskapelig antologi/Konferanseserie
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