Automatic Workspace Calibration Using Homography for Pick and Place

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00367850" target="_blank" >RIV/68407700:21730/23:00367850 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/CASE56687.2023.10260601" target="_blank" >https://doi.org/10.1109/CASE56687.2023.10260601</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CASE56687.2023.10260601" target="_blank" >10.1109/CASE56687.2023.10260601</a>

Result language

angličtina

Original language name

Automatic Workspace Calibration Using Homography for Pick and Place

Original language description

For deploying any robotic solution, the most cumbersome yet essential task remains calibration. Almost every robotic system uses a camera to extract information to produce some output. In the case of the pick-and-place system, camera information is used to detect objects and estimate their position in real-world space. The accuracy of tasks like sorting and stacking the objects in the box depends on their estimated pose in the space, especially when they need to be arranged in a confined space. We propose the automatic calibration of the workspace using distinct markers. Our experimentation was carried out with loose packets of recycled paper, which consists of small parts inside. We evaluate our results on the basis of translation errors of the estimated centroid position of objects with respect to the position given by the calibrated 3D camera. In conclusion, we also assess the typical pick-and-place performance on the success rate of stacking the packets in a small box.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF16_026%2F0008432" target="_blank" >EF16_026/0008432: Cluster 4.0 - Methodology of System Integration</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IEEE International Conference on Automation Science and Engineering (CASE)

ISBN

979-8-3503-2070-1

ISSN

2161-8070

e-ISSN

2161-8089

Number of pages

6

Pages from-to

—

Publisher name

IEEE Industrial Electronic Society

Place of publication

Vienna

Event location

Aucland

Event date

Aug 26, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

—