Volume 31 Issue 8 - Publication Date: July 2012

Fast object localization and pose estimation in heavy clutter for robotic bin picking

Ming-Yu Liu, Oncel Tuzel, Ashok Veeraraghavan, Yuichi Taguchi, Tim K Marks and Rama Chellappa

The International Journal of Robotics Research 2012 31: 951–973

Downloadable Files

System demo video. In the video, we demonstrate the robustness and realtime performance of the proposed system for picking up parts in a challenging setting. Through showing 10 consecutive pickups of a industrial part from a highly cluttered bin, we illustrate the applicability of the proposed system to industrial assembly. Each of the major components of the algorithm is highlighted. The video also contains several close-up views of the pickups. (38.0 mb)

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