Téléchargez le livre : Bin-Picking

Bin-Picking

New Approaches for a Classical Problem de

Éditeur :

Springer


Collection :

Studies in Systems, Decision and Control

Paru le : 2015-11-29

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Description

This book is devoted to one of the most famous examples of automation handling tasks – the “bin-picking” problem. To pick up objects, scrambled in a box is an easy task for humans, but its automation is very complex. In this book three different approaches to solve the bin-picking problem are described, showing how modern sensors can be used for efficient bin-picking as well as how classic sensor concepts can be applied for novel bin-picking techniques. 3D point clouds are firstly used as basis, employing the known Random Sample Matching algorithm paired with a very efficient depth map based collision avoidance mechanism resulting in a very robust bin-picking approach. Reducing the complexity of the sensor data, all computations are then done on depth maps. This allows the use of 2D image analysis techniques to fulfill the tasks and results in real time data analysis. Combined with force/torque and acceleration sensors, a near time optimal bin-picking system emerges. Lastly, surfacenormal maps are employed as a basis for pose estimation. In contrast to known approaches, the normal maps are not used for 3D data computation but directly for the object localization problem, enabling the application of a new class of sensors for bin-picking.
Pages
117 pages
Collection
Studies in Systems, Decision and Control
Parution
2015-11-29
Marque
Springer
EAN papier
9783319264981
EAN PDF
9783319265001
Informations sur l'ebook
Nombre pages copiables
1
Nombre pages imprimables
11
Taille du fichier
4680 Ko
Prix
94,94 €
EAN EPUB
9783319265001
Informations sur l'ebook
Nombre pages copiables
1
Nombre pages imprimables
11
Taille du fichier
3113 Ko
Prix
94,94 €

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