{
  "abstract": "This disclosure describes an optical depth measurement system for robotic bin picking applications, designed to mitigate errors caused by specular reflections from object surfaces. Conventional structured light systems can misinterpret specular returns as valid surface points, leading to inaccurate depth maps and failed pick attempts. The described arrangement employs two structured light projectors positioned at distinct angles relative to an imaging sensor. Depth maps generated from each projector are cross-referenced to identify and reject inconsistent data points, which often originate from specular highlights. A minimum density of valid depth points is required before a pick operation, with an automatic exposure adjustment as a fallback to ensure sufficient data acquisition.",
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    "sensors-controls-machine-vision/machine-vision/3d-vision",
    "robotics-automation/motion-planning/grasp-planning"
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      "caption": "A high-level block diagram showing the flow of data and control within the depth estimation system.",
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      "caption": "An elevation view illustrating the geometric setup of the two structured light projectors and the imaging sensor relative to a bin of objects.",
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  "keywords": [
    "bin picking",
    "structured light",
    "depth estimation",
    "specular reflection",
    "machine vision",
    "robotics",
    "d sensing",
    "point cloud",
    "exposure control",
    "data validation"
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  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000000047",
  "published_at": "2026-09-15T11:48:03.397008Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Bin Picking Depth Estimation Using Dual Projector Angle Rejection",
  "uuid": "01a0a4e5-42c1-7994-8f24-47fcdc1b4914"
}