Report
Vision-based robot manipulation of transparent liquid containers in a laboratory setting
| العنوان: | Vision-based robot manipulation of transparent liquid containers in a laboratory setting |
|---|---|
| المؤلفون: | Schober, Daniel, Güldenring, Ronja, Love, James, Nalpantidis, Lazaros |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition |
| الوصف: | Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work, we develop a flexible and cost-effective approach to address this gap by introducing a vision-based system for liquid volume estimation and a simulation-driven pouring method particularly designed for containers with small openings. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \url{https://github.com/DaniSchober/LabLiquidVision} and the newly introduced dataset LabLiquidVolume is available at https://data.dtu.dk/articles/dataset/LabLiquidVision/25103102. Comment: This work has been submitted to the IEEE for possible publication |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2404.16529 |
| رقم الانضمام: | edsarx.2404.16529 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |