Bin picking

Goal: Find items in the box and take them by Robotic arm.
Used HW: Ensenso stereo camera with a projector, AUBO robotic arm, and a Vacuum gripper.
I created a fast and robust search algorithm (inspired by PPF {point pair features} and spatial outlines) for the searching position of an item in the box. Implementation is accelerated on CUDA and include calibration coordinate system of the Robotic Arm and camera space. Calibration was made by the spheare mounted on the tip of the Robotic Arm.

First prototype was presented on MSV 2017. Faster and more accurate version on MSV 2018. (The International Engineering Fair)