Saidi, K.
, Krishnan Komaralingam, A.
and Franaszek, M.
(2025),
Artifact-Based Evaluation of 6 DoF Poses of Objects in Robotic Bin Picking Applications, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=960897
(Accessed January 8, 2026)
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Artifact-Based Evaluation of 6 DoF Poses of Objects in Robotic Bin Picking Applications
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Abstract
This paper presents the development of a bin picking pose estimation artifact (BPPEA) for evaluating the performance of bin picking vision systems (BPVSs). The BPPEA is designed to be realistic, inexpensive, and easy to use. The development process involved determining whether 3D printed screws are equivalent to real screws for bin picking purposes and creating a realistic 3D bin artifact. The results show that the 3D printed screws have similar performance to real screws in terms of pose estimation accuracy. The BPPEA was fabricated using fused filament fabrication (FFF) 3D printing and was scanned using a structured-light based 3D imaging system.Pub Type
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Keywords
robotic bin picking, machine vision, 6 dof object pose estimation, 3d imaging
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Created October 20, 2025, Updated January 6, 2026