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Fast Recovery of Piled Deformable Objects using Superquadrics
 

Summary: Fast Recovery of Piled Deformable Objects
using Superquadrics
Dimitrios Katsoulas1
and Ales Jaklic2
1
Institute for Pattern Recognition and Image Processing, University of Freiburg,
Georges-Koehler-Allee 52, D-79110 Freiburg, Germany
dkats@informatik.uni-freiburg.de
2
Computer Vision Laboratory, University of Ljubljana,
Trzaska cesta 25, SI-1000 Ljubljana, Slovenia
ales.jaklic@fri.uni-lj.si
Abstract. Fast robotic unloading of piled deformable box-like objects
(e.g. box-like sacks), is undoubtedly of great importance to the indus-
try. Existing systems although fast, can only deal with layered, neatly
placed configurations of such objects. In this paper we discuss an ap-
proach which deals with both neatly placed and jumbled configurations
of objects. We use a time of flight laser sensor mounted on the hand of
a robot for data acquisition. Target objects are modeled with globally
deformed superquadrics. Object vertices are detected and superquadric

  

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

 

Collections: Computer Technologies and Information Sciences