2D Orientation and Grasp Point Computation for Bin Picking in Overhaul Processes

Sajjad Taheritanjani, Juan Haladjian, Thomas Neumaier, Zardosht Hodaie, Bernd Bruegge

2020

Abstract

During industrial overhauling processes, several small parts and fasteners must be sorted and packed into different containers for reuse. Most industrial bin picking solutions use either a CAD model of the objects for comparison with the obtained 3D point clouds or complementary approaches, such as stereo cameras and laser sensors. However, obtaining CAD models may be infeasible for all types of small parts. In addition, industrial small parts have characteristics (e.g., light reflections in ambient light) that make the picking task even more challenging even when using laser and stereo cameras. In this paper, we propose an approach that solves these problems by automatically segmenting small parts and classifying their orientation and obtaining a grasp point using 2D images. The proposed approach obtained segmentation accuracy of 80% by applying a Mask R-CNN model trained on 10 annotated images. Moreover, it computes the orientation and grasp point of the pickable objects using Mask R-CNN or a combination of PCA and Image Moment. The proposed approach is a first step towards an automated bin picking system in overhaul processes that reduces costs and time by segmenting pickable small parts to be picked by a robot.

Paper Citation

in Harvard Style

Taheritanjani S., Haladjian J., Neumaier T., Hodaie Z. and Bruegge B. (2020). 2D Orientation and Grasp Point Computation for Bin Picking in Overhaul Processes. In Proceedings of the 9th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-397-1, pages 493-500. DOI: 10.5220/0008970604930500

in Bibtex Style

@conference{icpram20,
author={Sajjad Taheritanjani and Juan Haladjian and Thomas Neumaier and Zardosht Hodaie and Bernd Bruegge},
title={2D Orientation and Grasp Point Computation for Bin Picking in Overhaul Processes},
booktitle={Proceedings of the 9th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2020},
pages={493-500},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008970604930500},
isbn={978-989-758-397-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - 2D Orientation and Grasp Point Computation for Bin Picking in Overhaul Processes
SN - 978-989-758-397-1
AU - Taheritanjani S.
AU - Haladjian J.
AU - Neumaier T.
AU - Hodaie Z.
AU - Bruegge B.
PY - 2020
SP - 493
EP - 500
DO - 10.5220/0008970604930500