Precise Measurement of Cargo Boxes for Gantry Robot Palletization in Large Scale Workspaces Using Low-Cost RGB-D Sensors

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• 刊名：Lecture Notes in Computer Science
• 出版年：2017
• 出版时间：2017
• 年：2017
• 卷：10114
• 期：1
• 页码：472-486
• 丛书名：Computer Vision ? ACCV 2016
• ISBN：978-3-319-54190-7
• 卷排序：10114

文摘

This paper presents a novel algorithm for extracting the pose and dimensions of cargo boxes in a large measurement space of a robotic gantry, with sub-centimetre accuracy using multiple low cost RGB-D Kinect sensors. This information is used by a bin-packing and path-planning software to build up a pallet. The robotic gantry workspaces can be up to 10 m in all dimensions, and the cameras cannot be placed top-down since the components of the gantry actuate within this space. This presents a challenge as occlusion and sensor noise is more likely.