Picking and recognizing system in cluttered environment

Ye Zheng; Xin Jiang; Shanshan Yang; Congyi Lyu; Weiguo Zhou; Yunhui Liu

doi:10.1109/ICInfA.2018.8812327

Picking and recognizing system in cluttered environment

Ye Zheng^*
, Xin Jiang
, Shanshan Yang
, Congyi Lyu
, Weiguo Zhou
, Yunhui Liu

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Smarteye Tech Limited
Chinese University of Hong Kong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Warehouse automation is a popular research field and it has attracted significant interests of many researchers in recent years. Amazon also has intense interest in it and has held picking challenge in last three years. The achievements made during completing the challenge mission has given great insight to the research of this field. In this paper, we present a system for warehouse picking automation. To grasp object in a cluttered environment, we propose a practical method to get a reliable grasp point in a segmented object surface. And we adopt moveIt! to complete motion planning task. In recognizing process, we make a convolutional neural network to recognize grasped objects and the network is trained by our own data set.

Original language	English
Title of host publication	2018 IEEE International Conference on Information and Automation, ICIA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1089-1094
Number of pages	6
ISBN (Electronic)	9781538680698
DOIs	https://doi.org/10.1109/ICInfA.2018.8812327
State	Published - Aug 2018
Externally published	Yes
Event	2018 IEEE International Conference on Information and Automation, ICIA 2018 - Wuyishan, Fujian, China Duration: 11 Aug 2018 → 13 Aug 2018

Publication series

Name	2018 IEEE International Conference on Information and Automation, ICIA 2018

Conference

Conference	2018 IEEE International Conference on Information and Automation, ICIA 2018
Country/Territory	China
City	Wuyishan, Fujian
Period	11/08/18 → 13/08/18

Keywords

Deep learning
Object grasp
Object recognition

Access to Document

10.1109/ICInfA.2018.8812327

Cite this

Zheng, Y., Jiang, X., Yang, S., Lyu, C., Zhou, W., & Liu, Y. (2018). Picking and recognizing system in cluttered environment. In 2018 IEEE International Conference on Information and Automation, ICIA 2018 (pp. 1089-1094). Article 8812327 (2018 IEEE International Conference on Information and Automation, ICIA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2018.8812327

@inproceedings{6150fa6f48804668a8f3e1efb406d864,

title = "Picking and recognizing system in cluttered environment",

abstract = "Warehouse automation is a popular research field and it has attracted significant interests of many researchers in recent years. Amazon also has intense interest in it and has held picking challenge in last three years. The achievements made during completing the challenge mission has given great insight to the research of this field. In this paper, we present a system for warehouse picking automation. To grasp object in a cluttered environment, we propose a practical method to get a reliable grasp point in a segmented object surface. And we adopt moveIt! to complete motion planning task. In recognizing process, we make a convolutional neural network to recognize grasped objects and the network is trained by our own data set.",

keywords = "Deep learning, Object grasp, Object recognition",

author = "Ye Zheng and Xin Jiang and Shanshan Yang and Congyi Lyu and Weiguo Zhou and Yunhui Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Information and Automation, ICIA 2018 ; Conference date: 11-08-2018 Through 13-08-2018",

year = "2018",

month = aug,

doi = "10.1109/ICInfA.2018.8812327",

language = "英语",

series = "2018 IEEE International Conference on Information and Automation, ICIA 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1089--1094",

booktitle = "2018 IEEE International Conference on Information and Automation, ICIA 2018",

address = "美国",

}

Zheng, Y, Jiang, X, Yang, S, Lyu, C, Zhou, W & Liu, Y 2018, Picking and recognizing system in cluttered environment. in 2018 IEEE International Conference on Information and Automation, ICIA 2018., 8812327, 2018 IEEE International Conference on Information and Automation, ICIA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1089-1094, 2018 IEEE International Conference on Information and Automation, ICIA 2018, Wuyishan, Fujian, China, 11/08/18. https://doi.org/10.1109/ICInfA.2018.8812327

Picking and recognizing system in cluttered environment. / Zheng, Ye; Jiang, Xin; Yang, Shanshan et al.
2018 IEEE International Conference on Information and Automation, ICIA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1089-1094 8812327 (2018 IEEE International Conference on Information and Automation, ICIA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Picking and recognizing system in cluttered environment

AU - Zheng, Ye

AU - Jiang, Xin

AU - Yang, Shanshan

AU - Lyu, Congyi

AU - Zhou, Weiguo

AU - Liu, Yunhui

PY - 2018/8

Y1 - 2018/8

N2 - Warehouse automation is a popular research field and it has attracted significant interests of many researchers in recent years. Amazon also has intense interest in it and has held picking challenge in last three years. The achievements made during completing the challenge mission has given great insight to the research of this field. In this paper, we present a system for warehouse picking automation. To grasp object in a cluttered environment, we propose a practical method to get a reliable grasp point in a segmented object surface. And we adopt moveIt! to complete motion planning task. In recognizing process, we make a convolutional neural network to recognize grasped objects and the network is trained by our own data set.

AB - Warehouse automation is a popular research field and it has attracted significant interests of many researchers in recent years. Amazon also has intense interest in it and has held picking challenge in last three years. The achievements made during completing the challenge mission has given great insight to the research of this field. In this paper, we present a system for warehouse picking automation. To grasp object in a cluttered environment, we propose a practical method to get a reliable grasp point in a segmented object surface. And we adopt moveIt! to complete motion planning task. In recognizing process, we make a convolutional neural network to recognize grasped objects and the network is trained by our own data set.

KW - Deep learning

KW - Object grasp

KW - Object recognition

UR - https://www.scopus.com/pages/publications/85072314073

U2 - 10.1109/ICInfA.2018.8812327

DO - 10.1109/ICInfA.2018.8812327

M3 - 会议稿件

AN - SCOPUS:85072314073

T3 - 2018 IEEE International Conference on Information and Automation, ICIA 2018

SP - 1089

EP - 1094

BT - 2018 IEEE International Conference on Information and Automation, ICIA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Information and Automation, ICIA 2018

Y2 - 11 August 2018 through 13 August 2018

ER -

Zheng Y, Jiang X, Yang S, Lyu C, Zhou W, Liu Y. Picking and recognizing system in cluttered environment. In 2018 IEEE International Conference on Information and Automation, ICIA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1089-1094. 8812327. (2018 IEEE International Conference on Information and Automation, ICIA 2018). doi: 10.1109/ICInfA.2018.8812327

Picking and recognizing system in cluttered environment

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