Artur José Cordeiro

Abstract
Bin picking based on deep learning techniques is a promising approach that can solve several analytical methods problems. These systems can provide accurate solutions to bin picking in cluttered environments, where the scenario is always changing. This article proposes a robust and accurate system for segmenting bin picking objects, employing an easy configuration procedure to adjust the framework according to a specific object. The framework is implemented in Robot Operating System (ROS) and is divided into a detection and segmentation system. The detection system employs Mask R-CNN instance neural network to identify several objects from two dimensions (2D) grayscale images. The segmentation system relies on the point cloud library (PCL), manipulating 3D point cloud data according to the detection results to select particular points of the original point cloud, generating a partial point cloud result. Furthermore, to complete the bin picking system a pose estimation approach based on matching algorithms is employed, such as Iterative Closest Point (ICP). The system was evaluated for two types of objects, knee tube, and triangular wall support, in cluttered environments. It displayed an average precision of 79% for both models, an average recall of 92%, and an average IOU of 89%. As exhibited throughout the article, this system demonstrates high accuracy in cluttered environments with several occlusions for different types of objects.

Abstract
Bin picking is a challenging task involving many research domains within the perception and grasping fields, for which there are no perfect and reliable solutions available that are applicable to a wide range of unstructured and cluttered environments present in industrial factories and logistics centers. This paper contributes with research on the topic of object segmentation in cluttered scenarios, independent of previous object shape knowledge, for textured and textureless objects. In addition, it addresses the demand for extended datasets in deep learning tasks with realistic data. We propose a solution using a Mask R-CNN for 2D object segmentation, trained with real data acquired from a RGB-D sensor and synthetic data generated in Blender, combined with 3D point-cloud segmentation to extract a segmented point cloud belonging to a single object from the bin. Next, it is employed a re-configurable pipeline for 6-DoF object pose estimation, followed by a grasp planner to select a feasible grasp pose. The experimental results show that the object segmentation approach is efficient and accurate in cluttered scenarios with several occlusions. The neural network model was trained with both real and simulated data, enhancing the success rate from the previous classical segmentation, displaying an overall grasping success rate of 87.5%.

Abstract
Bin picking is a highly researched topic, due to the need for automated procedures in industrial environments. A general bin picking system requires a highly structured process, starting with data acquisition, and ending with pose estimation and grasping. A high number of bin picking problems are being presently solved, through deep learning networks, combined with distinct procedures. This study provides a comprehensive review of deep learning approaches, implemented in bin picking problems. Throughout the review are described several approaches and learning methods based on specific domains, such as gripper oriented and object oriented, as well as summarized several methodologies, in order to solve bin picking issues. Furthermore, are introduced current strategies used to simplify particular cases and at last, are presented peculiar means of detecting object poses.