Novel Sweeping Methods for Robotic Rearrangement of Object Piles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0199512" target="_blank" >RIV/00216305:26210/26:0199512 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/CASE58245.2025.11163961" target="_blank" >http://dx.doi.org/10.1109/CASE58245.2025.11163961</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CASE58245.2025.11163961" target="_blank" >10.1109/CASE58245.2025.11163961</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Novel Sweeping Methods for Robotic Rearrangement of Object Piles

Popis výsledku v původním jazyce

In this paper, we investigate robotic pile rearrangement algorithms to redistribute objects in cluttered scenes for improving the performance of object recognition and picking systems. In particular, we focus on identifying the best pile sweeping actions in fast-paced industrial sorting applications where the robot would only have limited time to react, i.e., has one chance to sweep. The robot's sweep aims to minimize occlusions and improve visibility of the objects in the scene. We first study the performance of three methods that utilize dimensionality reduction techniques (i.e., clustering and PCA) as baselines, discussing their strengths and weaknesses. We then present a novel sampling-based approach for determining the best start and end points for the sweeping motions based on an action evaluation metric. Additionally, we adapted the best performing method to prioritize minimizing occlusion for specific objects. Our results show that the sampling-based method performs more consistently and successfully across different initial pile configurations.

Název v anglickém jazyce

Novel Sweeping Methods for Robotic Rearrangement of Object Piles

Popis výsledku anglicky

In this paper, we investigate robotic pile rearrangement algorithms to redistribute objects in cluttered scenes for improving the performance of object recognition and picking systems. In particular, we focus on identifying the best pile sweeping actions in fast-paced industrial sorting applications where the robot would only have limited time to react, i.e., has one chance to sweep. The robot's sweep aims to minimize occlusions and improve visibility of the objects in the scene. We first study the performance of three methods that utilize dimensionality reduction techniques (i.e., clustering and PCA) as baselines, discussing their strengths and weaknesses. We then present a novel sampling-based approach for determining the best start and end points for the sweeping motions based on an action evaluation metric. Additionally, we adapted the best performing method to prioritize minimizing occlusion for specific objects. Our results show that the sampling-based method performs more consistently and successfully across different initial pile configurations.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20200 - Electrical engineering, Electronic engineering, Information engineering

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Automation Science and Engineering

ISBN

9798331522469

ISSN

2161-8070

e-ISSN

2161-8089

Počet stran výsledku

8

Strana od-do

1788-1795

Název nakladatele

IEEE Computer Society

Místo vydání

—

Místo konání akce

Los Angeles, California, USA

Datum konání akce

17. 8. 2025

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—