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Proceedings Paper

A Realistic Approach To Bin Picking
Author(s): D. Van Laethem; M. Bogaert; O. Ledoux
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Paper Abstract

A pragmatic 3D visual method is proposed to solve the bin-picking problem. In this approach the localisation and the recognition of an object are done in two steps. The first step consists in finding a simple 3D description of the scene : 3D measurements are provided by a triangulation based range finder ( the sensor consists of a laser plane, deflected by a mirror mounted on a galvanometer, and a camera observing the intersection of the scene and the laser plane). Then the scene's surface is represented by flat regions. In the second step one tries to find a grasping site that the gripper of the robot can fit, following a collision free trajectory.

Paper Details

Date Published: 17 January 1985
PDF: 10 pages
Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); doi: 10.1117/12.946168
Show Author Affiliations
D. Van Laethem, C.R.I.F. (Belgium)
M. Bogaert, C.R.I.F. (Belgium)
O. Ledoux, C.R.I.F. (Belgium)

Published in SPIE Proceedings Vol. 0521:
Intelligent Robots and Computer Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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