EAN: 9783319264981

BIN-PICKING - DIRK BUCHHOLZ GEBUNDEN

This bookis 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 aneasy task for humans  but its
automation is very complex. In this book threedifferent approaches to solve the bin-picking
problem are described  showinghow modern sensors can be used for efficient bin-picking as well
as how classicsensor concepts can be applied for novel bin-picking techniques. 3D pointclouds
are firstly used as basis  employing the known Random Sample Matchingalgorithm paired with a
very efficient depth map based collision avoidancemechanism resulting in a very robust
bin-picking approach. Reducing thecomplexity 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
andresults in real time data analysis. Combined with force torque and accelerationsensors  a
near time optimal bin-picking system emerges. Lastly  surface normalmaps are employed as a
basis for pose estimation. In contrast to knownapproaches  the normal maps are not used for 3D
data computation but directlyfor the object localization problem  enabling the application of a
new class ofsensors for bin-picking.

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