Efficient 3D Vertex Detection in Range Images Acquired with a Laser Sensor

In many branches of industry, piled box-like objects have to be recognized, grasped and transferred. Unfortunately, existing systems only deal with the most simple configurations (i.e. neatly placed boxes) effectively. It is known that the detection of 3D-vertices is a crucial step towards the solution of the problem, since they reveal essential information about the location of the boxes in space. In this paper we present a technique based on edge detection and robust line fitting, which efficiently detects 3D-vertices. Combining this technique with the advantages of a time of flight laser sensor for data acquisition, we obtain a fast system which can operate in adverse environments independently of lighting conditions.