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Robotic Bin Picking

During 2009-2015, I worked a lot on the robot bin-picking problem where the goal is to enable a robot the capability of knowing the 6D poses of the parts in an accuracy so that the robot can pick a desired part up and assemble it into another biger part. Over the years, we have developed several object pose estimation algorithms including the fast directional chamfer matching and the learning to vote algorithm. Our team successfully pushed our research results into a commerical product (Mitsubishi Electric MELFA-3D system). We are honored that R&D Magazine recognized our innovation and gave the R&D 100 award in 2014.

Our learning-to-vote algorithm demo (ECCV 2014):

Our voting algorithm demo (ICRA 2012):

Our fast directional chamfer matching algorithm demo (CVPR 2010, ICRA 2010):

The related publications from this line of research is listed below.

  • Learning to Remove Multipath Distortions in Time-of-Flight Range Images for a Robotic Arm Setup
    Kilho Son, Ming-Yu Liu, Yuichi Taguchi
    IEEE International Conference on Robotics and Automation (ICRA), 2016, Stockholm, Sweden

  • Learning to Rankd 3D Features
    Oncel Tuzel, Ming-Yu Liu, Yuichi Taguchi, Arvind Raghunathan
    European Conference on Computer Vision (ECCV), 2014, Zurich, Switzerland

  • Fast Object Localization and Pose Estimation in Heavy Clutter for Robotic Bin Picking
    Ming-Yu Liu, Oncel Tuzel, Ashok Veeraraghavan, Yuichi Taguchi, Tim K. Marks, Rama Chellappa
    International Journal of Robotics Research (IJRR) 2012

  • Voting-Based Pose Estimation for Robotic Assembly Using a 3D Sensor
    Changhyun Choi, Yuichi Taguchi, Oncel Tuzel, Ming-Yu Liu, Srikumar Ramalingam
    International Conference on Robotics and Automation (ICRA), 2012, St. Paul, Minnesota, USA

  • Fast Directional Chamfer Matching
    Ming-Yu Liu, Oncel Tuzel, Ashok Veeraraghavan, Rama Chellappa
    Conference on Computer Vision and Pattern Recognition (CVPR), 2010, San Francisco, California, USA

  • Pose Estimation in Heavy Clutter Using a Multi-Flash Camera
    Ming-Yu Liu, Oncel Tuzel, Ashok Veeraraghavan, Rama Chellappa, Amit Agrawal, Haruhisa Okuda
    International Conference on Robotics and Automation (ICRA), 2010, Anchorage, Alaska, USA