Tracking of industrial objects by using CAD models

In this paper we present a model-based approach for real-time camera pose estimation in industrial scenarios. The line model which is used for tracking is generated by rendering a polygonal model and extracting contours out of the rendered scene. By un-projecting a point on the contour with the depth value stored in the z-buffer, the 3D coordinates of the contour can be calculated. For establishing 2D/3D correspondences the 3D control points on the contour are projected into the image and a perpendicular search for gradient maxima for every point on the contour is performed. Multiple hypotheses of 2D image points corresponding to a 3D control point make the pose estimation robust against ambiguous edges in the image.

Methodik zur Bewertung von Effizienzgewinnen durch erhöhte Flexibilität selbstorganisierter Systeme in der Intralogistik

Der steigenden Dynamik und Komplexität von Materialflusssystemen kann durch die Einführung selbstorganisierter Systeme – dem Internet der Dinge in der Intralogistik – begegnet werden. Diese versprechen insbesondere durch eine erhöhte Flexibilität deutliche Effizienzgewinne über den Lebenszyklus. Der vorliegende Artikel schlägt eine Methodik zur Bewertung der erhöhten Flexibilität vor, illustriert diese anhand eines einfachen Beispiels und zeigt weiteren Forschungsbedarf auf. Die vorgeschlagene Methodik beruht auf einer Betrachtung der durch Flexibilität beeinflussten Auszahlungen im Lebenszyklus mit Hilfe einer dynamischen Optimierung.

Meta-model for calculating the mean energy demand of automated storage and retrieval systems

Energy efficiency has become an important research topic in intralogistics. Especially in this field the focus is placed on automated storage and retrieval systems (AS/RS) utilizing stacker cranes as these systems are widespread and consume a significant portion of the total energy demand of intralogistical systems. Numerical simulation models were developed to calculate the energy demand rather precisely for discrete single and dual command cycles. Unfortunately these simulation models are not suitable to perform fast calculations to determine a mean energy demand value of a complete storage aisle. For this purpose analytical approaches would be more convenient but until now analytical approaches only deliver results for certain configurations. In particular, for commonly used stacker cranes equipped with an intermediate circuit connection within their drive configuration there is no analytical approach available to calculate the mean energy demand. This article should address this research gap and present a calculation approach which enables planners to quickly calculate the energy demand of these systems.