Recognition of position and orientation of jumbled parts using cross slit light 3-D vision sensor

A vision system and a recognition algorithm to detect position and orientation of jumbled simple-shape parts have been developed. The vision system is composed of a TV camera to detect the two-dimensional position of the parts in a shallow pallet and a recently developed cross slit light three-dimensional vision sensor to detect three-dimensional position and orientation of the parts. In a gripping experiment involving 100 parts, in five shallow pallets, using the vision system and the algorithm, the gripping of jumbled parts with maximum inclination of 30° was successful