Vision-based robot manipulation of transparent liquid containers in a laboratory setting

Autor:	Schober, Daniel, Güldenring, Ronja, Love, James, Nalpantidis, Lazaros
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition
Druh dokumentu:	Working Paper
Popis:	Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work, we develop a flexible and cost-effective approach to address this gap by introducing a vision-based system for liquid volume estimation and a simulation-driven pouring method particularly designed for containers with small openings. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \url{https://github.com/DaniSchober/LabLiquidVision} and the newly introduced dataset LabLiquidVolume is available at https://data.dtu.dk/articles/dataset/LabLiquidVision/25103102. Comment: This work has been submitted to the IEEE for possible publication
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2404.16529 Zobrazit plný text záznamu View this record from Arxiv