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PDF (354.4 KB)
Original paper
A bin picking system based on depth from defocus
Ovidiu Ghita1 and Paul F. Whelan2
(1) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland (e-mail: ghitao@eeng.dcu.ie, Tel.: +353-1-7005869, Fax: +353-1-7005508) , IE
(2) Vision Systems Laboratory, School of Electronic Engineering, Dublin City University, Dublin 9, Ireland , IE
Abstract. It is generally accepted that to develop versatile bin-picking systems capable of grasping and manipulation operations, accurate 3-D information is required. To accomplish this goal, we have developed a fast and precise range sensor based on active depth from defocus (DFD). This sensor is used in conjunction with a three-component vision system, which is able to recognize and evaluate the attitude of 3-D objects. The first component performs scene segmentation using an edge-based approach. Since edges are used to detect the object boundaries, a key issue consists ...
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