Generating an interpretation tree from a CAD model to represent object configurations for bin-picking tasks
نویسنده
چکیده
This research was sponsored by the Defense Advanced Research Projects Agency, DOD, through A R P A Order No. 4976, and monitored by the Air Force Avionics Laboratory under contract F33615-84-K-1520. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency or of the U.S . Government.
منابع مشابه
Precompiling a Geometrical Model into an Interpretation Tree for Object Recognition in Bin-picking Tasks
Given a 3D solid modcl of an object, we fint g e n m apparent shapes of an object unda vaxi w directions. Those appartnt shapes an then classit?ed into groups (rrp~esentative attitudes) based on dominant visible faces and other features. Basedon the gmuphg, id@genaatedin the farm of interprrtarion me. "le intapraation tree collsisp of two pam: the fint pan for ciadying a target region in an ima...
متن کاملPose Estimation Using Structured Light and Harmonic Shape Contexts
One of the remaining obstacles to a widespread introduction of industrial robots is their inability to deal with 3D objects in a bin that are not precisely positioned, i.e., the bin-picking problem. In this work we address the general bin-picking problem where a CAD model of the object to be picked is available beforehand. Structured light, in the form of Time Multiplexed Binary Stripes, is use...
متن کاملIntegrated Order Batching and Distribution Scheduling in a Single-block Order Picking Warehouse Considering S-Shape Routing Policy
In this paper, a mixed-integer linear programming model is proposed to integrate batch picking and distribution scheduling problems in order to optimize them simultaneously in an order picking warehouse. A tow-phase heuristic algorithm is presented to solve it in reasonable time. The first phase uses a genetic algorithm to evaluate and select permutations of the given set of customers. The seco...
متن کاملساختار دهی آنی داده‌‌های مکانی ورودی GIS با تأکید بر عارضه راه
An important issue in implementation of a GIS system is preparation of data to be entered in GIS. To produce spatial data for GIS using photogrammetric techniques, conventional method is to apply photogrammetric and GIS systems individually (off-line procedure). This approach is costly, time consuming and somehow unreliable due to the fact that 3D photogrammetric model is not available at the ...
متن کاملNUMERICAL AND EXPERIMENTAL INVESTIGATION OF WIND PRESSURE COEFFICIENTS ON SCALLOP DOME
The wind loads considerably influence lightweight spatial structures. An example of spatial structures is scallop domes that contain various configurations and forms and the wind impact on a scallop dome is more complex due to its additional curvature. In our work, the wind pressure coefficient (Cp ) on the scallop dome surface is studied numerically and experimentally. Firstly, the programming...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015