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Inftech."],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Zusammenfassung<\/jats:title><jats:p>W\u00e4hrend matte Objekte visuell gut erkannt und mit Robotern gegriffen werden k\u00f6nnen, stellen transparente Objekte neue Herausforderungen dar. So liefern moderne Farb- und Tiefenbildkameras (RGB-D) keine korrekten Tiefendaten, sondern verzerrte Abbildungen des Hintergrunds. Wir zeigen in diesem Beitrag, welche Methoden geeignet sind, um nur in Farbbildern transparente Objekte zu erkennen und deren Pose zu bestimmen. Mittels eines Robotersystems werden Ansichten des Zielobjekts generiert und annotiert, um Methoden anzulernen und um Daten f\u00fcr die Evaluierung zu erhalten. Wir zeigen auch, dass mittels einer verbesserten Methode zum Einpassen der 3D-Pose eine deutliche Verbesserung der Genauigkeit der Lagesch\u00e4tzung erreicht wird. Dadurch k\u00f6nnen falsche Erkennungen aussortiert werden und f\u00fcr richtige Erkennungen wird die Genauigkeit der Posesch\u00e4tzung verbessert. Somit gelingt es, mit einem Roboter transparente Objekte zu greifen.<\/jats:p>","DOI":"10.1007\/s00502-023-01158-w","type":"journal-article","created":{"date-parts":[[2023,9,12]],"date-time":"2023-09-12T10:02:50Z","timestamp":1694512970000},"page":"519-529","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Erkennung transparenter Objekte f\u00fcr die Laborautomatisierung","Recognizing transparent objects for laboratory automation"],"prefix":"10.1007","volume":"140","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2799-491X","authenticated-orcid":false,"given":"Markus","family":"Vincze","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Baptiste","family":"Weibel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefan","family":"Thalhammer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hrishikesh","family":"Gupta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philipp","family":"Ausserlechner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,9,12]]},"reference":[{"key":"1158_CR1","doi-asserted-by":"publisher","unstructured":"Biermann, F., Mathews, J., Nie\u00dfing, B., K\u00f6nig, N., Schmitt, R.H.: Automating laboratory processes by connecting biotech and robotic devices\u2014an overview of the current challenges, existing solutions and ongoing developments. 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