Roa-Garzón, Máximo A.Gambaro, Elena F.Florek-Jasinska, MonikaEndres, FelixRuess, FelixSchaller, RaphaelEmmerich, ChristianMuenster, KorbinianSuppa, Michael2021-04-232021-04-2320192019http://dx.doi.org/10.1007/s13218-019-00588-zhttps://dl.gi.de/handle/20.500.12116/36235This paper presents a robotic demonstrator for manipulation and distribution of objects. The demonstrator relies on robust 3D vision-based solutions for navigation, object detection and detection of graspable surfaces using the rc _ visard , a self-registering stereo vision sensor. Suitable software modules were developed for SLAM and for model-free suction gripping. The modules run onboard the sensor, which enables creating the presented demonstrator as a standalone application that does not require an additional host PC. The modules are interfaced with ROS, which allows a quick implementation of a fully functional robotic application.LogisticsObject pickingRobotic visionText/Journal Article10.1007/s13218-019-00588-z1610-1987