3D Object Recognition of Universal Logistic Goods

Progress in the areas of 3D sensor systems and artificial intelligence provides new opportunities for the development of flexible robotic systems that are applicable in scenarios without predefined and constant environmental conditions or standardized processes. An example from the field of logistics is the automatic unloading of containers. The development of a suitable robotic system on the one hand requires applicable gripping technologies, on the other hand it requires a reliable object recognition method in order to recognize and localize differently shaped logistic goods within a packaging scenario. This paper presents an object recognition method for logistic goods from three different shape classes using point clouds acquired by a laser scanner. The method is evaluated with real packaging scenarios.