Picking and Recognizing System in Cluttered Environment
| Autor: | Yunhui Liu, Ye Zheng, Shanshan Yang, Xin Jiang, Congyi Lyu, Weiguo Zhou |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Deep learning GRASP 02 engineering and technology 010501 environmental sciences Object (computer science) 01 natural sciences Convolutional neural network Automation Field (computer science) Task (project management) 020901 industrial engineering & automation Human–computer interaction Artificial intelligence Motion planning business 0105 earth and related environmental sciences |
| Zdroj: | ICIA |
| Popis: | Warehouse automation is a popular research field and it has attracted significant interests of many researchers in recent years. Amazon also has intense interest in it and has held picking challenge in last three years. The achievements made during completing the challenge mission has given great insight to the research of this field. In this paper, we present a system for warehouse picking automation. To grasp object in a cluttered environment, we propose a practical method to get a reliable grasp point in a segmented object surface. And we adopt moveIt! to complete motion planning task. In recognizing process, we make a convolutional neural network to recognize grasped objects and the network is trained by our own data set. |
| Databáze: | OpenAIRE |
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