Bin Picking Success Rate Depending on Sensor Sensitivity

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F19%3A39915448" target="_blank" >RIV/00216275:25530/19:39915448 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2019.8766009" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2019.8766009</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2019.8766009" target="_blank" >10.1109/CarpathianCC.2019.8766009</a>

Result language
angličtina
Original language name
Bin Picking Success Rate Depending on Sensor Sensitivity
Original language description
The goal of this contribution is to determine correlation between an applied sensor for object registration and the success rate of the bin-picking problem. In most applications of a bin picking problem in industry, the procedure consists of two consecutive steps. The first step provides an initial guess of both position and rotation angle of the object to be registered, while the second one improves the exact pose accuracy, as required in following tasks. The second step can be, among others, implemented by the Iterative Closest Point Algorithm (ICP). It is well known that the ICP algorithm is very sensitive to the initial guess of the position and rotation angle of the object. Another interesting feature, especially from the technician’s point of view, is the sensitivity of the ICP algorithm in relation to the applied sensor. Therefore, one particular bin picking application, involving complex irregular objects, is examined in this paper. Various kinds of sensors for 3D scene reconstruction are employed and, as a result of this contribution, a comprehensive set of relations between sensor quality and the ICP algorithm sensitivity is formulated.
Czech name
—
Czech description
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Project
<a href="/en/project/EF17_049%2F0008394" target="_blank" >EF17_049/0008394: Cooperation in Applied Research between the University of Pardubice and companies, in the Field of Positioning, Detection and Simulation Technology for Transport Systems (PosiTrans)</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 20th International Carpathian Control Conference, ICCC 2019
ISBN
978-1-72810-701-1
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
247-252
Publisher name
IEEE (Institute of Electrical and Electronics Engineers)
Place of publication
New York
Event location
Krakov
Event date
May 26, 2019
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000490570500053

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