Vision-based bin-picking: recognition and localization of multiple complex objects using simple visual cues

Vision based bin picking is increasingly more di cult as the complexity of target objects increases We propose an e cient solution where complex objects are su ciently represented by simple features cues thus invariance to object complexity is established The re gion extraction algorithm utilized in our approach is capable of providing the focus of attention to the simple cues as a trigger toward recognition and pose estima tion Successful bin picking experiments of industrial objects using stereo vision tools are presented