Automatic Workspace Calibration Using Homography for Pick and Place

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Automatic Workspace Calibration Using Homography for Pick and Place

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Automatic Workspace Calibration Using Homography for Pick and Place

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

<a href="/cs/project/EF16_026%2F0008432" target="_blank" >EF16_026/0008432: Klastr 4.0 - Metodologie systémové integrace</a><br>

Návaznosti

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

Rok uplatnění

2023

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 (CASE)

ISBN

979-8-3503-2070-1

ISSN

2161-8070

e-ISSN

2161-8089

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE Industrial Electronic Society

Místo vydání

Vienna

Místo konání akce

Aucland

Datum konání akce

26. 8. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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