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Authors: Nikolaos Rofalis 1 ; Lazaros Nalpantidis 1 ; Nils Axel Andersen 2 and Volker Krüger 1

Affiliations: 1 Aalborg University, Denmark ; 2 Technical University of Denmark, Denmark

ISBN: 978-989-758-175-5

Keyword(s): Industrial Robots, Object Detection, Object Matching, Grasping, Placing, Kitting.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Features Extraction ; Image and Video Analysis ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Shape Representation and Matching ; Software Engineering

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 several formats:
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: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 465-473. DOI: 10.5220/0005712404650473

@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: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={465-473},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005712404650473},
isbn={978-989-758-175-5},
}

TY - CONF

JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3 VISAPP: 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

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