Grasping position estimation method using depth image for thin objects

Takuya Yoshihara; Shoki Koga; Huimin Lu; Tohru Kamiya

doi:10.1117/12.2663251

22 December 2022 Grasping position estimation method using depth image for thin objects

Takuya Yoshihara, Shoki Koga, Huimin Lu, Tohru Kamiya

Proceedings Volume 12508, International Symposium on Artificial Intelligence and Robotics 2022; 125080K (2022) https://doi.org/10.1117/12.2663251
Event: Seventh International Symposium on Artificial Intelligence and Robotics 2022, 2022, Shanghai, China

Abstract

The robot market in Japan is gradually expanding due to increasing demand. Industrial robots are being actively introduced in the manufacturing industry. The introduction of robots in the industry has three advantages: 1) securing labor, 2) increasing productivity, and 3) improving quality. The robot can run for a long time with constant work efficiency, thus achieving stable production. In addition, by replacing human labor, robots can reduce labor costs and reduce human error. The downside of introducing a robot is that the robot has to be told where to grab, which takes time, and a technician with specialized knowledge. Furthermore, this method cannot perform grasping when the grasping object is not in the specified position. However, the introduction of robot vision may solve these problems. In this study, by using depth images, processed images, and deep learning models, we aim to achieve object color independent high-accuracy grasp position estimation for thin objects. We sharpen the depth image mainly by applying grayscale transformation and modify the deep learning model. The experimental results show that our design can achieve good results.

Citation Download Citation

Takuya Yoshihara, Shoki Koga, Huimin Lu, and Tohru Kamiya "Grasping position estimation method using depth image for thin objects", Proc. SPIE 12508, International Symposium on Artificial Intelligence and Robotics 2022, 125080K (22 December 2022); https://doi.org/10.1117/12.2663251

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