scholarly journals Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

2021 ◽  
Vol 11 (13) ◽  
pp. 5959
Author(s):  
Jacopo Aleotti ◽  
Alberto Baldassarri ◽  
Marcello Bonfè ◽  
Marco Carricato ◽  
Davide Chiaravalli ◽  
...  
Keyword(s):  
Force Measurement ◽  
Vision System ◽  
Mobile Manipulation ◽  
3D Perception ◽  
3D Vision ◽  
Correct Execution ◽  
Manipulation Task ◽  
Experimental Trials ◽  
Collaborative Robot ◽  
Mobile Base

This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.

Real-Time Sensing of Sag Geometry During GTA Welding

1997 ◽  
Vol 119 (2) ◽  
pp. 151-160 ◽  
Author(s):  
Y. M. Zhang ◽  
R. Kovacevic
Keyword(s):  
Real Time ◽  
Vision System ◽  
Structured Light ◽  
Gta Welding ◽  
Seam Tracking ◽  
Image Processing Algorithm ◽  
3D Vision ◽  
Full Penetration ◽  
Laser Stripe ◽  
Penetration Control

Seam tracking and weld penetration control are two fundamental issues in automated welding. Although the seam tracking technique has matured, the latter still remains a unique unsolved problem. It was found that the full penetration status during GTA welding can be determined with sufficient accuracy using the sag depression. To achieve a new full penetration sensing technique, a structured-light 3D vision system is developed to extract the sag geometry behind the pool. The laser stripe, which is the intersection of the structured-light and weldment, is thinned and then used to acquire the sag geometry. To reduce possible control delay, a small distance is selected between the pool rear and laser stripe. An adaptive dynamic search for rapid thinning of the stripe and the maximum principle of slope difference for unbiased recognition of sag border were proposed to develop an effective real-time image processing algorithm for sag geometry acquisition. Experiments have shown that the proposed sensor and image algorithm can provide reliable feedback information of sag geometry for the full penetration control system.

scholarly journals Low-cost and home-made immersive systems

2012 ◽  
Vol 11 (3) ◽  
pp. 9-17 ◽  
Author(s):  
Sébastien Kuntz ◽  
Ján Cíger
Keyword(s):  
Virtual Reality ◽  
Vision System ◽  
Low Cost ◽  
Immersive Virtual Reality ◽  
Simple Application ◽  
3D Vision ◽  
Head Mounted Display ◽  
Good Level ◽  
Application Sharing ◽  
Immersive Systems

A lot of professionals or hobbyists at home would like to create their own immersive virtual reality systems for cheap and taking little space. We offer two examples of such "home-made" systems using the cheapest hardware possible while maintaining a good level of immersion: the first system is based on a projector (VRKit-Wall) and cost around 1000$, while the second system is based on a head-mounted display (VRKit-HMD) and costs between 600� and 1000�. We also propose a standardization of those systems in order to enable simple application sharing. Finally, we describe a method to calibrate the stereoscopy of a NVIDIA 3D Vision system.

A Robotic 3D Vision System for Automatic Cranial Prostheses Inspection

2017 ◽  
pp. 328-335 ◽  
Author(s):  
Maria Cristina Valigi ◽  
Silvia Logozzo ◽  
Gabriele Canella
Keyword(s):  
Vision System ◽  
3D Vision

A 3D Vision-Based Solution for Product Picking In Industrial Applications

2010 ◽  
pp. 190-208
Author(s):  
Mirko Sgarbi ◽  
Valentina Colla ◽  
Gianluca Bioli
Keyword(s):  
Robot Manipulator ◽  
Vision System ◽  
Conveyor Belt ◽  
Industrial Applications ◽  
Vision Systems ◽  
3D Vision ◽  
Key Factor ◽  
Control Assembly ◽  
Single Marker ◽  
Bin Picking

Computer vision is nowadays a key factor in many manufacturing processes. Among all possible applications like quality control, assembly verification and component tracking, the robot guidance for pick and place operations can assume an important role in increasing the automation level of production lines. While 3D vision systems are now emerging as valid solutions in bin-picking applications, where objects are randomly placed inside a box, 2D vision systems are widely and successfully adopted when objects are placed on a conveyor belt and the robot manipulator can grasp the object by exploiting only the 2D information. On the other hand, there are many real-world applications where the 3rd dimension is required by the picking system. For example, the objects can differ in their height or they can be manually placed in front of the camera without any constraint on the distance between the object and the camera itself. Although a 3D vision system could represent a possible solution, 3D systems are more complex, more expensive and less compact than 2D vision systems. This chapter describes a monocular system useful for picking applications. It can estimate the 3D position of a single marker attached to the target object assuming that the orientation of the object is approximately known.

Design and Implementation of a Stereoscopic Video Player for a Time-Division Display

2014 ◽  
Vol 577 ◽  
pp. 1008-1011
Author(s):  
Chao Hui Lü ◽  
Jia Ying Pan ◽  
Chen Zhang ◽  
Hui Ren
Keyword(s):  
Depth Perception ◽  
Vision System ◽  
Three Dimensional ◽  
Video Technology ◽  
Stereoscopic Video ◽  
3D Vision ◽  
Design And Implementation ◽  
Video Player ◽  
Time Division

Three-dimensional video technology is becoming more and more popular, because it can provide a better natural depth perception. In this paper, a stereoscopic video player for a time-division display is designed and implemented, and people can use 3D Shutter Glasses to watch stereoscopic video by the player. It mainly focuses on the process of designing a Direct3D application, and the special handling of NVIDIA 3D Vision system for stereoscopic video. Upon examination, the stereoscopic video player can provide stereoscopic perception and good immersive experience.

3D vision system for vehicles

2004 ◽  
Author(s):  
K. Fintzel ◽  
R. Bendahan ◽  
C. Vestri ◽  
S. Bougnoux ◽  
S. Yamamoto ◽  
...  
Keyword(s):  
Vision System ◽  
3D Vision
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