Bin-picking with a solid state range camera

In this paper we present new work done on the bin-picking problem. The work was triggered by the advent of a new solid state range camera which enables the economic and robust use of range imagery in industrial robotic automation tasks. The application presented is that of pick-and-place of randomly oriented but known polyhedral objects in an industrial robotic work cell. The algorithms for segmentation, pose estimation, and grasp point determination are presented along with practical results from a real industrial grade work cell.