One of the greatest challenges in the Norwegian marine industry is the lack of technological solutions for an automated sorting and handling of marine raw materials. Many harvesting and processing tasks in the marine industry are still manual based such is the example of roe, milt, and liver sorting in whitefish industry, sorting and post-trimming operations in both whitefish, pelagic and other sectors. As a result, only a portion of marine resources are efficiently used. To enable a higher harvesting sustaniability, resource efficiency and monitoring there is a need for automated solutions for sorting and handling based on 3D robot vision. Development of novel concepts for robotic automation in marine industry such as sorting and manipulation involves a robot being able to interact (e.g. by grasping ) with compliant objects, such as fish, fillets, or fractions such as heads, roe, milt and similar. These objects typically move or deform when interaction/manipulation is initiated. Given a 3D image by a depth camera, one can compute the interaction vector (e.g. for the grasp), for the object of interest. Once the interaction has begun the object may become partially occluded and begin to move and deform. For this interaction phase an active perception with robot by means of 3D visual servoing is necessary to have a complete overview of the 3D structure of the object and to be able to handle occlusion and deformation. Research activity in MarinRobotics project is therefore aimed at giving a robot the kind of interaction intelligence that human workers have and to enable a robot to 'see' better so that robots can work in a 'sense-think-action' manner in the same way skilled human operators do when they perform sorting/manipulation of marine raw materials. This leads us to the following hypothesis that will be investigated: -Active perception by means of 3D visual servoing improves object's 3D exploration and correct 3D localization during sorting/manipulation.
Project leader: Ekrem Misimi
Category: Teknisk-industrielle institutter
Institution: SINTEF OCEAN AS