METHOD FOR THE LOCALIZATION OF GRIPPING POINTS OF OBJECTS

摘要

The invention relates to a method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor and the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another. In this respect, the boundary of the objects is determined from a two-dimensional image generated by the camera, a spatial position is determined from detected distance information of the 3D sensor and of the two-dimensional image and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.

主权项

1. A method for the localization of gripping points of objects, wherein
the objects are scanned by means of a 3D sensor; the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera;wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another;
the boundaries of the objects are determined from a two-dimensional image generated by the camera; a spatial position of the objects is determined from detected distance information of the 3D sensor and from the two-dimensional image; and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.