Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection
Michelangelo Nigro,Monica Sileo,Francesco Pierri,Katia Genovese,Domenico D. Bloisi,Fabrizio Caccavale,Michelangelo Nigro,Monica Sileo,Francesco Pierri,Katia Genovese,Domenico D. Bloisi,Fabrizio Caccavale
This paper presents a method to cope with autonomous assembly tasks in the presence of uncertainties. To this aim, a Peg-in-Hole operation is considered, where the target workpiece position is unknown and the peg-hole clearance is small. Deep learning based hole detection and 3D surface reconstruction techniques are combined for accurate workpiece localization. In detail, the hole is detected by u...
