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This paper proposes a novel bin picking framework, two-stage grasping, aimingat precise grasping of cluttered small objects. Object density estimation andrough grasping are conducted in the first stage. Fine segmentation, detection,grasping, and pushing are performed in the second stage. A small object binpicking system has been realized to exhibit the concept of two-stage grasping.Experiments have shown the effectiveness of the proposed framework. Unliketraditional bin picking methods focusing on vision-based grasping planningusing classic frameworks, the challenges of picking cluttered small objects canbe solved by the proposed new framework with simple vision detection andplanning.

Two-Stage Grasping: A New Bin Picking Framework for Small Objects