industrial robotics


The goal of the project is to build a robotic manipulator system to manage  the loading process on a frame of pieces that are to undergo a surface galvanizing process. 

Cinetix Group is an Italian company composed of different partners operating in several high-tech fields, including industrial design and automation. Final clients are coating companies operating complex and heterogeneous coating tasks.

In this project TeV's goal is to develop 3d vision algorithms to help define the actions of two robotic arms in grasping pieces, loading them onto a special frame, and possibly unloading after the galvanic process. Important preliminary steps are the accurate pose estimation of the frame in the 3d space and of the free, undamaged, mounting pins in order to communicate the exact destination point to the robotic system. After the pieces are loaded on the frame, the vision system has to verify the correct positioning before the galvanic process starts. 

The project started in September 2018 with end in August 2020 (2y).


Project partially funded by Provincia Autonoma di Trento (Italy) under L.P. 6/99.

elaboration of the frame: pair of pins are detected
Pairs of pins (same color) automatically detected analyzing the acquisition of the empty frame
Balls are the spherical neighborhood centered on pin pairs, to verify the correct positioning of pieces and to detect free pins


F. Poiesi, C.M. Modena, D. Giordani, S.Messelodi and E.Salandin. X-Loader 4.0. Ital-IA, Convegno Nazionale CINI sull'Intelligenza Artificiale, Torino, Italy, February 2022 (in Italian)

Contact: Fabio Poiesi (

Team: Fabio Poiesi, Stefano Messelodi, Dimitri Giordani, Carla Maria Modena


Cinetix Group

Video demo Two robotic arms collaborate to prepare racks for the galvanic process. The destination points are computed by the vision system.