Vision-based Robotic System for Object Agnostic Placing Operations

Nikolaos Rofalis, Lazaros Nalpantidis, Nils Axel Andersen, Volker Krüger

Abstract

Industrial robots are part of almost all modern factories. Even though, industrial robots nowadays manipulate objects of a huge variety in different environments, exact knowledge about both of them is generally assumed. The aim of this work is to investigate the ability of a robotic system to operate within an unknown environment manipulating unknown objects. The developed system detects objects, finds matching compartments in a placing box, and ultimately grasps and places the objects there. The developed system exploits 3D sensing and visual feature extraction. No prior knowledge is provided to the system, neither for the objects nor for the placing box. The experimental evaluation of the developed robotic system shows that a combination of seemingly simple modules and strategies can provide effective solution to the targeted problem.

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Paper Citation


in Harvard Style

Rofalis N., Nalpantidis L., Andersen N. and Krüger V. (2016). Vision-based Robotic System for Object Agnostic Placing Operations . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 465-473. DOI: 10.5220/0005712404650473


in Bibtex Style

@conference{visapp16,
author={Nikolaos Rofalis and Lazaros Nalpantidis and Nils Axel Andersen and Volker Krüger},
title={Vision-based Robotic System for Object Agnostic Placing Operations},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={465-473},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005712404650473},
isbn={978-989-758-175-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - Vision-based Robotic System for Object Agnostic Placing Operations
SN - 978-989-758-175-5
AU - Rofalis N.
AU - Nalpantidis L.
AU - Andersen N.
AU - Krüger V.
PY - 2016
SP - 465
EP - 473
DO - 10.5220/0005712404650473