Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Low Cost Bin Picking Solution for E-Commerce Warehouse Fulfillment
  Centers   In recent years, the throughput requirements of e-commerce fulfillment
warehouses have seen a steep increase. This has resulted in various automation
solutions being developed for item picking and movement. In this paper, we
address the problem of manipulators picking heterogeneous items placed randomly
in a bin. Traditional solutions require that the items be picked to be placed
in an orderly manner in the bin and that the exact dimensions of the items be
known beforehand. Such solutions do not perform well in the real world since
the items in a bin are seldom placed in an orderly manner and new products are
added almost every day by e-commerce suppliers. We propose a cost-effective
solution that handles both the aforementioned challenges. Our solution
comprises of a dual sensor system comprising of a regular RGB camera and a 3D
ToF depth sensor. We propose a novel algorithm that fuses data from both these
sensors to improve object segmentation while maintaining the accuracy of pose
estimation, especially in occluded environments and tightly packed bins. We
experimentally verify the performance of our system by picking boxes using an
ABB IRB 1200 robot. We also show that our system maintains a high level of
accuracy in pose estimation that is independent of the dimensions of the box,
texture, occlusion or orientation. We further show that our system is
computationally less expensive and maintains a consistent detection time of 1
second. We also discuss how this approach can be easily extended to objects of
all shapes.

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The categories of this paper are: eess
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The categories of this paper are: mtrl-th
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The categories of this paper are: ao-sci
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The categories of this paper are: adap-org
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The categories of this paper are: math-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: econ
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The categories of this paper are: patt-sol
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The categories of this paper are: gr-qc
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The categories of this paper are: q-fin
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The categories of this paper are: supr-con
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The categories of this paper are: hep-th
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The categories of this paper are: funct-an
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The categories of this paper are: dg-ga
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-ex