Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Fast visual part inspection for bin picking

Rofalis, Nikolaos ; Olesen, Anders S. ; Jakobsen, Michael Linde and Kruger, Volker LU orcid (2016) 2016 IEEE International Conference on Imaging Systems and Techniques, IST 2016 p.412-417
Abstract
In this paper we present a novel 3D sensing approach for industrial bin-picking applications that is low-cost, fast and precise. The system uses a simple laser-line emitter. While a robot arm moves the object through the laser light, a synchronized camera captures the laser line image on the object. A full point cloud as well as an edge point cloud suitable for subsequent pose estimation is generated by the developed system. The aim of this work is to deliver an accurate point cloud based on which an object pose can be generated to support a manufacturing robot to deliver an object with high precision. The experimental evaluation of our system shows robust and accurate scanning results.
Please use this url to cite or link to this publication:
author
; ; and
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2016 IEEE International Conference on Imaging Systems and Techniques (IST)
pages
6 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2016 IEEE International Conference on Imaging Systems and Techniques, IST 2016
conference location
Chania, Crete Island, Greece
conference dates
2016-10-04 - 2016-10-06
external identifiers
  • scopus:85003955359
ISBN
978-1-5090-1817-8
978-1-5090-1818-5
DOI
10.1109/IST.2016.7738261
language
English
LU publication?
no
id
73c89508-5319-4cc8-ad27-9d9288b6720d
date added to LUP
2019-05-16 21:20:53
date last changed
2024-07-09 13:22:58
@inproceedings{73c89508-5319-4cc8-ad27-9d9288b6720d,
  abstract     = {{In this paper we present a novel 3D sensing approach for industrial bin-picking applications that is low-cost, fast and precise. The system uses a simple laser-line emitter. While a robot arm moves the object through the laser light, a synchronized camera captures the laser line image on the object. A full point cloud as well as an edge point cloud suitable for subsequent pose estimation is generated by the developed system. The aim of this work is to deliver an accurate point cloud based on which an object pose can be generated to support a manufacturing robot to deliver an object with high precision. The experimental evaluation of our system shows robust and accurate scanning results.}},
  author       = {{Rofalis, Nikolaos and Olesen, Anders S. and Jakobsen, Michael Linde and Kruger, Volker}},
  booktitle    = {{2016 IEEE International Conference on Imaging Systems and Techniques (IST)}},
  isbn         = {{978-1-5090-1817-8}},
  language     = {{eng}},
  month        = {{11}},
  pages        = {{412--417}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Fast visual part inspection for bin picking}},
  url          = {{http://dx.doi.org/10.1109/IST.2016.7738261}},
  doi          = {{10.1109/IST.2016.7738261}},
  year         = {{2016}},
}