This paper focuses on robot picking of objects in warehouses and stores. Objects are often regularly stacked or aligned in specific arrangement patterns to increase storage efficiency. There are typical patterns in arrangement patterns. A specific picking strategy set is often linked to specific arrangement patterns. By linking the arrangement patterns of various object categories to picking strategy sets, the picking performance of a robot is expected to improve. In this paper, we propose a method in which groups of regularly arranged objects are detected from an image, and the arrangement pattern of each group is identified. In this paper, we describe the effectiveness of the proposed method based on experiment results for “book” as the target.
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