Abstract
Detecting and localizing objects in three-dimensional space is essential for robotic manipulation. One practical task is known as “bin-picking”, where a robot manipulator picks objects from a bin of parts without any assistance of an operator. For such a task, vision-based object detection and location can be a cost-effective solution. In this paper, we propose a fast and robust approach for picking flanges in a crowd condition. We present a continuous edge detector improved from Canny and a fast ellipse detector based on randomized hough transformation to obtain the outer contours of flange. And then we have implement several picking experiments to verify our proposed approach is fast and robust in practical environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Rothwell, C.A., Zisserman, A., Forsyth, D.A., Mundy, J.L.: Planar object recognition using projective shape representation. Int. J. Comput. Vis. 16(1), 57–99 (1995)
Rahardja, K., Kosaka, A.: Vision-based bin-picking: recognition and localization of multiple complex objects using simple visual cues. In: IEEE/RSJ International Conference on Intelligent Robots and Systems 1996, IROS, vol. 3, pp. 1448–1457 (1996)
Cozar, J.R., Guil, N., Zapata, E.L.: Detection of arbitrary planar shapes with 3D pose. Image Vis. Comput. 19(14), 1057–1070 (2001)
Shroff, N., Taguchi, Y., Tuzel, O., Veeraraghavan, A.: Finding a needle in a specular haystack. In: IEEE International Conference on Robotics and Automation, pp. 5963–5970 (2011)
Viksten, F., Forssen, P.E., Johansson, B., Moe, A:. Comparison of local image descriptors for full 6 degree-of-freedom pose estimation. In: IEEE International Conference on Robotics and Automation, pp. 1139–1146 (2009)
Canny, J.: A computational approach to edge detection. IEEE Trans. Pattern Anal. Mach. Intell. 8, 679–698 (1986)
Inverso, S.: Ellipse detection using randomized hough transform. Final Project Introduction to Computer Vision (2006)
Slabaugh, G.G.: Computing Euler Angles from A Rotation Matrix (1999)
Acknowledgement
This work was supported in part by National Natural Science Foundation of China (No. 81373555), and Shanghai Committee of Science and Technology (14JC1402200 and 14441904403) for funding.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Luo, L., Luo, Y., Lu, H., Yuan, H., Tang, X., Zhang, W. (2018). Fast Circular Object Localization and Pose Estimation for Robotic Bin Picking. In: Zeng, B., Huang, Q., El Saddik, A., Li, H., Jiang, S., Fan, X. (eds) Advances in Multimedia Information Processing – PCM 2017. PCM 2017. Lecture Notes in Computer Science(), vol 10736. Springer, Cham. https://doi.org/10.1007/978-3-319-77383-4_52
Download citation
DOI: https://doi.org/10.1007/978-3-319-77383-4_52
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-77382-7
Online ISBN: 978-3-319-77383-4
eBook Packages: Computer ScienceComputer Science (R0)