Advanced Techniques for Corners, Edges, and Stacked Gaps Detection and Pose Estimation of Cardboard Packages in Automated Dual-Arm Depalletising Systems

Santheep Yesudasu, Jean-François Brethé

2024

Abstract

This paper introduces advanced methods for detecting corners, edges, and gaps and estimating the pose of cardboard packages in automated depalletizing systems. Initially, traditional computer vision techniques such as edge detection, thresholding, and contour detection were used but fell short due to issues like variable lighting conditions and tightly packed arrangements. As a result, we shifted to deep learning techniques, utilizing the YOLOv8 model for superior results. By incorporating point cloud data from RGB-D cameras, we achieved better 3D positioning and structural analysis. Our approach involved careful dataset collection and annotation, followed by using YOLOv8 for keypoint detection and 3D mapping. The system’s performance was thoroughly evaluated through simulations and physical tests, showing significant accuracy, robustness, and operational efficiency improvements. Results demonstrated high precision and recall, confirming the effectiveness of our approach in industrial applications. This research highlights the potential of using different sensors’ information to feed the deep learning algorithms to advance automated depalletizing technologies.

Paper Citation

in Harvard Style

Yesudasu S. and Brethé J. (2024). Advanced Techniques for Corners, Edges, and Stacked Gaps Detection and Pose Estimation of Cardboard Packages in Automated Dual-Arm Depalletising Systems. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 264-273. DOI: 10.5220/0013016900003822

in Bibtex Style

@conference{icinco24,
author={Santheep Yesudasu and Jean-François Brethé},
title={Advanced Techniques for Corners, Edges, and Stacked Gaps Detection and Pose Estimation of Cardboard Packages in Automated Dual-Arm Depalletising Systems},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={264-273},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013016900003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Advanced Techniques for Corners, Edges, and Stacked Gaps Detection and Pose Estimation of Cardboard Packages in Automated Dual-Arm Depalletising Systems
SN - 978-989-758-717-7
AU - Yesudasu S.
AU - Brethé J.
PY - 2024
SP - 264
EP - 273
DO - 10.5220/0013016900003822
PB - SciTePress