Patent Document ID: 9977948
Application ID: 15000697
Patent Status: 1

Claim One:
1. A method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor; the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera; wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another; the boundaries of the objects are determined from a two-dimensional image generated by the camera; a spatial position of the objects is determined from detected distance information of the 3D sensor and from the two-dimensional image; the gripping points for the objects are determined from the boundaries and from the spatial position of the objects; the objects are also at least illuminated by a second, third and fourth illumination unit while the objects are detected by means of the camera, with the illumination units being arranged spatially offset from one another; the illumination units are activated one after the other and the camera detects the objects on an activation of each illumination unit and respectively generates a two-dimensional image; and a maximum image is generated from a respective two two-dimensional images generated by the camera, wherein a gradient filtering is carried out on the maximum image to generate an edge image; and a respective two edge images are fused to a first result image by means of a minimum formation.