2D orientation and grasp point computation for bin picking in overhaul processes

Sajjad Taheritanjani, Juan Haladjian, Thomas Neumaier, Zardosht Hodaie, Bernd Bruegge

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

During industrial overhauling processes, several small parts and fasteners must be sorted and packed into different containers for reuse. Most industrial bin picking solutions use either a CAD model of the objects for comparison with the obtained 3D point clouds or complementary approaches, such as stereo cameras and laser sensors. However, obtaining CAD models may be infeasible for all types of small parts. In addition, industrial small parts have characteristics (e.g., light reflections in ambient light) that make the picking task even more challenging even when using laser and stereo cameras. In this paper, we propose an approach that solves these problems by automatically segmenting small parts and classifying their orientation and obtaining a grasp point using 2D images. The proposed approach obtained segmentation accuracy of 80% by applying a Mask R-CNN model trained on 10 annotated images. Moreover, it computes the orientation and grasp point of the pickable objects using Mask R-CNN or a combination of PCA and Image Moment. The proposed approach is a first step towards an automated bin picking system in overhaul processes that reduces costs and time by segmenting pickable small parts to be picked by a robot.

Original languageEnglish
Title of host publicationICPRAM 2020 - Proceedings of the 9th International Conference on Pattern Recognition Applications and Methods
EditorsMaria De Marsico, Gabriella Sanniti di Baja, Ana Fred
PublisherSciTePress
Pages493-500
Number of pages8
ISBN (Electronic)9789897583971
StatePublished - 2020
Event9th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2020 - Valletta, Malta
Duration: 22 Feb 202024 Feb 2020

Publication series

NameICPRAM 2020 - Proceedings of the 9th International Conference on Pattern Recognition Applications and Methods

Conference

Conference9th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2020
Country/TerritoryMalta
CityValletta
Period22/02/2024/02/20

Keywords

  • Automated Bin Picking
  • Computer Vision for Automation
  • Fasteners Segmentation
  • Industrial Overhaul Processes

Fingerprint

Dive into the research topics of '2D orientation and grasp point computation for bin picking in overhaul processes'. Together they form a unique fingerprint.

Cite this