An Image Processing Method for Handling Subject Piled in a Container

We propose an image processing method for part handling robot for picking up subjects piled in a container. Line laser light is projected on subjects, and its external shape is detected by many segments of a line laser, and pitch, roll, and yaw angles of subject are recognized precisely. A priority rule is settled to choose one subject that is taken out. This rule is determined by considering the grasping space, the position of a subject, the movement space of hand and so on.