Process of distinguish untangled/tangled objects in our algorithm.

Download scientific diagram | Process of distinguish untangled/tangled objects in our algorithm. Given the full state of all objects as input, our algorithm skeletonizes the objects and obtains a graph collection by projecting along the vertical angle to the bin plane. For each object, we annotate the under-crossings it formed with others as −1 and otherwise as +1. The untangled objects (pink) are determined when the annotations of the crossings are +1 or without any crossings. The tangled objects (blue) have both +1 and −1 annotations. from publication: Learning to Dexterously Pick or Separate Tangled-Prone Objects for Industrial Bin Picking | Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate actions based on the current | Industrialization, Divorce and Buffer | ResearchGate, the professional network for scientists.

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