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Vision-based robot manipulation of transparent liquid containers in a laboratory setting
April 26, 2024, 4:45 a.m. | Daniel Schober, Ronja G\"uldenring, James Love, Lazaros Nalpantidis
cs.CV updates on arXiv.org arxiv.org
Abstract: 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 …
arxiv containers cs.cv cs.ro laboratory manipulation robot robot manipulation transparent type vision
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