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A Versatile Depalletizer of Boxes Based on Range Imagery Dimitrios Katsoulas Lothar Bergen
 

Summary: A Versatile Depalletizer of Boxes Based on Range Imagery
Dimitrios Katsoulas Lothar Bergen
Lambis Tassakos
Computer Science Department, University of Freiburg, 79110 Freiburg, Germany
Inos Automationssoftware GmbH, 70563 Stuttgart, Germany
Abstract
We present a novel box depalletizing system based on im-
ages acquired with a time of flight laser sensor mounted
on the hand of the robot. Scanning the upper layer of the
pallet yields a 2.5D image to which edge detection and
robust line fitting are applied to extract 3D vertices. This
vertex information is used as an input for a model based
object recognition system. Model vertices are matched to
scene vertices and object location hypothesis are formed.
These hypotheses are verified or rejected using a two-step
verification process. Due to the fact that we use edges to
extract vertices, rather than surfaces, we are able to de-
tect target objects, in both cluttered and ordered configu-
rations. Our experiments with different configurations of
card board boxes and paper tissue packets demonstrate

  

Source: Albert-Ludwigs-Universität Freiburg, Institut für Informatik,, Lehrstuhls für Mustererkennung und Bildverarbeitung

 

Collections: Computer Technologies and Information Sciences