Real-time Sorting of Stacked Objects Using Depth Information

被引：0

作者：

Wang, Changlong ^{[1
]}

Wang, Runing ^{[1
]}

Zheng, Jun ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Mech Engn, Beijing, Peoples R China

来源：

2019 IEEE 5TH INTERNATIONAL CONFERENCE ON MECHATRONICS SYSTEM AND ROBOTS (ICMSR 2019) | 2019年

关键词：

sorting; stacked objects; plane segmentation; template matching;

D O I：

10.1109/icmsr.2019.8835467

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at real-time sorting of stacked objects, a series of algorithms are proposed, including plane segmentation and template matching with low computational load and high speed, using only depth information. Contour recognition and planar clustering are used to segment different objects. Then the U-Chord Height (UCH) template matching method is designed to realize accurate classification of objects. Thus robust and real-time sorting of stacked objects can be achieved.

引用

页码：129 / 132

页数：4

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