Depalletizing Of Tires With Robust Object Localization
A solution for automated unloading of rimless tires from a palette is presented. Based on a range image the single tires are isolated by segmentation and localized by their geometrical properties. Two different localization algorithms for lying and standing tires are described. The system is able to modify the gripping point at the tire, if collision in the robots path for unloading is present.