Bin Picking Success Rate Depending on Sensor Sensitivity

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Bin Picking Success Rate Depending on Sensor Sensitivity

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Bin Picking Success Rate Depending on Sensor Sensitivity

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF17_049%2F0008394" target="_blank" >EF17_049/0008394: Spolupráce Univerzity Pardubice a aplikační sféry v aplikačně orientovaném výzkumu lokačních, detekčních a simulačních systémů pro dopravní a přepravní procesy (PosiTrans)</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 20th International Carpathian Control Conference, ICCC 2019

ISBN

978-1-72810-701-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

247-252

Název nakladatele

IEEE (Institute of Electrical and Electronics Engineers)

Místo vydání

New York

Místo konání akce

Krakov

Datum konání akce

26. 5. 2019

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000490570500053