CADモデルを用いないばら積みシーンからの物体検出

抄録

Bin picking robot plays an important role in automated manufacturing in industries. One of the most important techniques of bin picking robot is object detection or pose estimation in bin scene, and recently various methods reported good performance. Some industrial parts have its 3D CAD model that can represent whole shape of those parts; hence these methods are based on comparing the model of target object with the scene measured by camera or 3D sensors. However, almost all foods handled at factory do not have fixed shape against the recent demand of automating pick and place task. Therefore model-based techniques cannot be applied. In this paper, we propose a method of object detection without its 3D CAD model by utilizing target surface area information and concavity of boundaries between respective individuals. We evaluate proposed method against some foods and show the effectiveness of the method.