Precise Measurement of Cargo Boxes

Precise Measurement of Cargo Boxes for Gantry Robot Palletization in Large Scale Workspaces Using Low-Cost RGB-D Sensors

In this work, we present a novel algorithm for extracting the pose and dimensions of cargo boxes in a large measurement space of a robotic gantry, with sub-centimetre accuracy using multiple low cost RGB-D Kinect sensors.


The robotic gantry workspaces can be up to 10 m in all dimensions, and the cameras cannot be placed top-down since the components of the gantry actuate within this space. This presents a challenge as occlusion and sensor noise is more likely.

This paper demonstrates how we optimize over isometrically placed camera data to extract pose and dimensions of multiple cargo with sub-cm accuracy.

The paper can be found here: Link