Vision-Based State and Pose Estimation for Robotic Bin Picking of Cables

Andrea Monguzzi,Christian Cella,Andrea Maria Zanchettin,Paolo Rocco,Andrea Monguzzi,Christian Cella,Andrea Maria Zanchettin,Paolo Rocco

This paper deals with the challenging task of picking semi-deformable linear objects (SDLOs) from a bin. SDLOs are deformable elements, such as cables, joined to a rigid part as a connector. We propose a vision-based strategy to detect, classify and estimate the pose and the state (free or occluded) of connectors belonging to an unspecified number of SDLOs, arranged in an unknown configuration in ...