Object Pose Detection in Industrial Environment

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 5Language: englishTyp: PDF

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Palzkill, Matthias; Verl, Alexander (Fraunhofer IPA, Nobelstr. 12, 70569 Stuttgart, Germany)

This paper shows a method for object pose detection that is successfully applied to industrial applications running a three-shift system. The industrial applications are fully automated feeding systems, commonly known as bin-picking. The proposed method is a generic approach to detect 6 degrees of freedom of any solid objects with arbitrary geometry. The proposed method is using 3D range data and is based on a hypothesize-and-test approach .In the first step, object poses are hypothesized by means of pose clustering. In the second step, the verification of estimated object poses is realised by an appearance-based template-matching approach. In addition, the method’s interfaces are designed to ensure compatibility to 3D sensor systems and handling systems [5]. During long-term operations in different use-cases, the method showed its usability regarding the crucial requirements, such as robustness, accuracy, portability and speed.