Crossbeam Sensing

Goal: Identify and accurately localize objects using a crossbeam sensor.

Solved

Indexing table methods allow us to identify and localize generalized polyhedral objects in constant time, and such methods require little preprocessing.
Even without preprocessing, the problem can be efficiently solved (O(n) time) online.

Conveyor Pick ( 4.9M Mpeg | 1.0M Mpeg )
This video shows a Robotworld module catching objects which have been recognized and localized in real time. The objects pass through a crossbeam sensor mounted on the conveyor belt, and their positions and orientations are computed from this data. Then, we call a realtime routine which captures the objects by moving the Robotworld module onto the same time/space trajectory as the object, and then lowering the end effector arm and closing the gripper.