Michelangelo Nigro

Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection

This paper presents a method to cope with autonomous assembly tasks in the presence of uncertainties. To this aim, a Peg-in-Hole operation is considered, where the target workpiece position is unknown and the peg-hole clearance is small. Deep learning based hole detection and 3D surface reconstructi…