Authors:
Nikolaos Rofalis
1
;
Lazaros Nalpantidis
1
;
Nils Axel Andersen
2
and
Volker Krüger
1
Affiliations:
1
Aalborg University, Denmark
;
2
Technical University of Denmark, Denmark
Keyword(s):
Industrial Robots, Object Detection, Object Matching, Grasping, Placing, Kitting.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Features Extraction
;
Image and Video Analysis
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Shape Representation and Matching
;
Software Engineering
Abstract:
Industrial robots are part of almost all modern factories. Even though, industrial robots nowadays manipulate
objects of a huge variety in different environments, exact knowledge about both of them is generally assumed.
The aim of this work is to investigate the ability of a robotic system to operate within an unknown environment
manipulating unknown objects. The developed system detects objects, finds matching compartments in a
placing box, and ultimately grasps and places the objects there. The developed system exploits 3D sensing
and visual feature extraction. No prior knowledge is provided to the system, neither for the objects nor for
the placing box. The experimental evaluation of the developed robotic system shows that a combination of
seemingly simple modules and strategies can provide effective solution to the targeted problem.