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International Conference on Computational Science and Its Applications

ICCSA 2020: Computational Science and Its Applications – ICCSA 2020 pp 105–118Cite as

KLT Bin Detection and Pose Estimation in an Industrial Environment

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Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12254))

Abstract

In order for Automated Guided Vehicles (AGV’s) to handle KLT bins (Kleinladungsträger, Small Load Carrier) in a flexible way, a robust bin detection algorithm has to be developed. This paper presents a solution to the KLT bin detection and pose estimation task. The Mask R-CNN network is used to detect a KLT bin on color images, while a simple plane fitting approach is used to estimate its 5DoF position. This combination gives promising results in a typical use case scenario when the KLT bin is aligned with the camera view.

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Author information

Authors and Affiliations

  1. Saint-Petersburg State University, 7/9 Universitetskaya nab., St. Petersburg, 199034, Russia

    Aleksei Beloshapko & Vladimir Korkhov

  2. Robert Bosch GmbH, Robert-Bosch-Campus 1, 71272, Renningen, Germany

    Christian Knoll

  3. University of Stuttgart, Postfach 10 60 37, 70049, Stuttgart, Germany

    Bilel Boughattas

Authors
  1. Aleksei Beloshapko
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  2. Christian Knoll
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  3. Bilel Boughattas
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  4. Vladimir Korkhov
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Corresponding author

Correspondence to Aleksei Beloshapko .

Editor information

Editors and Affiliations

  1. University of Perugia, Perugia, Italy

    Osvaldo Gervasi

  2. University of Basilicata, Potenza, Potenza, Italy

    Beniamino Murgante

  3. Chair- Center of ICT/ICE, Covenant University, Ota, Nigeria

    Sanjay Misra

  4. University of Cagliari, Cagliari, Italy

    Chiara Garau

  5. University of Cagliari, Cagliari, Italy

    Ivan Blečić

  6. Clayton School of Information Technology, Monash University, Clayton, VIC, Australia

    David Taniar

  7. Department of Information Science, Kyushu Sangyo University, Fukuoka, Japan

    Bernady O. Apduhan

  8. University of Minho, Braga, Portugal

    Ana Maria A. C. Rocha

  9. Polytechnic University of Bari, Bari, Italy

    Eufemia Tarantino

  10. Polytechnic University of Bari, Bari, Italy

    Carmelo Maria Torre

  11. Department of Neurology, University of Massachusetts Medical School, Worcester, MA, USA

    Yeliz Karaca

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Beloshapko, A., Knoll, C., Boughattas, B., Korkhov, V. (2020). KLT Bin Detection and Pose Estimation in an Industrial Environment. In: Gervasi, O., et al. Computational Science and Its Applications – ICCSA 2020. ICCSA 2020. Lecture Notes in Computer Science(), vol 12254. Springer, Cham. https://doi.org/10.1007/978-3-030-58817-5_9

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  • DOI: https://doi.org/10.1007/978-3-030-58817-5_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-58816-8

  • Online ISBN: 978-3-030-58817-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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