Vision-based robot manipulation of transparent liquid containers in a laboratory setting

• URL: http://arxiv.org/abs/2404.16529v1
• Date: Thu, 25 Apr 2024 11:42:32 GMT
• Title: Vision-based robot manipulation of transparent liquid containers in a laboratory setting
• Authors: Daniel Schober, Ronja Güldenring, James Love, Lazaros Nalpantidis,
• Abstract summary: We develop a vision-based system for liquid volume estimation and a simulation-driven pouring method. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm.
• Score: 3.443622476405787
• License: http://creativecommons.org/licenses/by/4.0/
• 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 of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \url{https://github.com/DaniSchober/LabLiquidVision} and the newly introduced dataset LabLiquidVolume is available at https://data.dtu.dk/articles/dataset/LabLiquidVision/25103102.

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