Towards Universal Detection and Localization of Mating Parts in Robotics

Stefan Marx, Attique Bashir, Rainer Müller

2025

Abstract

A key task in robotics is the precise joining of two components. This approach focuses on detecting basic geometric shapes such as rectangles, triangles, and circles, etc. on the respective mating counterparts. This paper first examines how precisely individual geometric shapes can be localized using stereoscopy with a single camera on the robot arm. After the localization of the individual shapes, the spatial relationships between these shapes are analyzed and then compared with those of a possible joining partner. If several features match, transformation parameters are calculated to define the optimal alignment for an accurate and efficient assembly. This method emphasizes simplicity and effectiveness in identifying complementary geometries for precise positioning during assembly tasks.

Paper Citation

in Harvard Style

Marx S., Bashir A. and Müller R. (2025). Towards Universal Detection and Localization of Mating Parts in Robotics. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 235-242. DOI: 10.5220/0013707400003982

in Bibtex Style

@conference{icinco25,
author={Stefan Marx and Attique Bashir and Rainer Müller},
title={Towards Universal Detection and Localization of Mating Parts in Robotics},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={235-242},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013707400003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Towards Universal Detection and Localization of Mating Parts in Robotics
SN - 978-989-758-770-2
AU - Marx S.
AU - Bashir A.
AU - Müller R.
PY - 2025
SP - 235
EP - 242
DO - 10.5220/0013707400003982
PB - SciTePress