<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-05397403</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-22T14:41:33+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">The Graph Matching Optimization Methodology for Thin Object Recognition in Pick and Place Tasks</title>
            <author role="aut">
              <persName>
                <forename type="first">Pierre</forename>
                <surname>Willaume</surname>
              </persName>
              <idno type="halauthorid">890691-0</idno>
              <affiliation ref="#struct-1049096"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Pierre</forename>
                <surname>Parrend</surname>
              </persName>
              <email type="md5">dc6c193b29cbf0a448e14a33b0feba02</email>
              <email type="domain">insa-lyon.fr</email>
              <idno type="idhal" notation="string">pierre-parrend</idno>
              <idno type="idhal" notation="numeric">11280</idno>
              <idno type="halauthorid" notation="string">29440-11280</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-1680-1182</idno>
              <idno type="IDREF">https://www.idref.fr/144476185</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=HPeCNA4AAAAJ</idno>
              <affiliation ref="#struct-1049096"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Etienne</forename>
                <surname>Gancel</surname>
              </persName>
              <idno type="halauthorid">2916645-0</idno>
              <affiliation ref="#struct-340448"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Aline</forename>
                <surname>Deruyver</surname>
              </persName>
              <idno type="halauthorid">510374-0</idno>
              <affiliation ref="#struct-1049096"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Laboratoire ICube</forename>
                <surname>Admin Publications</surname>
              </persName>
              <email type="md5">44aab1f496aa78602f282c28dfa78439</email>
              <email type="domain">unistra.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2025-12-04 09:58:10</date>
              <date type="whenModified">2026-03-18 12:30:55</date>
              <date type="whenReleased">2025-12-04 09:58:10</date>
              <date type="whenProduced">2016-12-06</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="152409">
                <persName>
                  <forename>Laboratoire ICube</forename>
                  <surname>Admin Publications</surname>
                </persName>
                <email type="md5">44aab1f496aa78602f282c28dfa78439</email>
                <email type="domain">unistra.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-05397403</idno>
            <idno type="halUri">https://hal.science/hal-05397403</idno>
            <idno type="halBibtex">willaume:hal-05397403</idno>
            <idno type="halRefHtml">&lt;i&gt;Symposium Series on Computational Intelligence 2016 (SSCI)&lt;/i&gt;, Dec 2016, Athènes, Greece. pp.1-8, &lt;a target="_blank" href="https://dx.doi.org/10.1109/SSCI.2016.7850132"&gt;&amp;#x27E8;10.1109/SSCI.2016.7850132&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Symposium Series on Computational Intelligence 2016 (SSCI), Dec 2016, Athènes, Greece. pp.1-8, &amp;#x27E8;10.1109/SSCI.2016.7850132&amp;#x27E9;</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="ENGEES">Ecole Nationale du Génie de l'Eau et de l'Environnement de Strasbourg</idno>
            <idno type="stamp" n="UNIV-STRASBG">Université de Strasbourg</idno>
            <idno type="stamp" n="INSA-STRASBOURG">Institut National des Sciences Appliquées de Strasbourg</idno>
            <idno type="stamp" n="INC-CNRS">Institut de Chimie du CNRS</idno>
            <idno type="stamp" n="AGREENIUM">Archive ouverte en agrobiosciences</idno>
            <idno type="stamp" n="SITE-ALSACE">Archive ouverte du site Alsace</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="UNIVOAK">UNIVOAK</idno>
            <idno type="stamp" n="UMR7357">Laboratoire des sciences de l’ingénieur, de l’informatique et de l’imagerie</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">The Graph Matching Optimization Methodology for Thin Object Recognition in Pick and Place Tasks</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Pierre</forename>
                    <surname>Willaume</surname>
                  </persName>
                  <idno type="halauthorid">890691-0</idno>
                  <affiliation ref="#struct-1049096"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Pierre</forename>
                    <surname>Parrend</surname>
                  </persName>
                  <email type="md5">dc6c193b29cbf0a448e14a33b0feba02</email>
                  <email type="domain">insa-lyon.fr</email>
                  <idno type="idhal" notation="string">pierre-parrend</idno>
                  <idno type="idhal" notation="numeric">11280</idno>
                  <idno type="halauthorid" notation="string">29440-11280</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-1680-1182</idno>
                  <idno type="IDREF">https://www.idref.fr/144476185</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=HPeCNA4AAAAJ</idno>
                  <affiliation ref="#struct-1049096"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Etienne</forename>
                    <surname>Gancel</surname>
                  </persName>
                  <idno type="halauthorid">2916645-0</idno>
                  <affiliation ref="#struct-340448"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Aline</forename>
                    <surname>Deruyver</surname>
                  </persName>
                  <idno type="halauthorid">510374-0</idno>
                  <affiliation ref="#struct-1049096"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">2016 IEEE Symposium Series on Computational Intelligence (SSCI)</title>
                <meeting>
                  <title>Symposium Series on Computational Intelligence 2016 (SSCI)</title>
                  <date type="start">2016-12-06</date>
                  <date type="end">2016-12-09</date>
                  <settlement>Athènes</settlement>
                  <country key="GR">Greece</country>
                </meeting>
                <imprint>
                  <publisher>IEEE</publisher>
                  <biblScope unit="pp">1-8</biblScope>
                  <date type="datePub">2016</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/SSCI.2016.7850132</idno>
              <ref target="https://publis.icube.unistra.fr/4-WPGD16" type="seeAlso"/>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="sdv.bibs">Life Sciences [q-bio]/Quantitative Methods [q-bio.QM]</classCode>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Bin-picking emerges as a major interest in the industry. The aim is to replace current ‘pick and place’ systems, where one must place mechanical components in dedicated distribution devices such as bowl feeders for picking them up with a robot arm. A large number of image processing methods are available for recognizing these components. For instance, the stereovision approach provides fine results by comparing several images of the objects taken from different angles. However, when several types of components are available or for thin components, the identification remains a delicate task. We propose the Graph Matching Optimization methodology, which uses graph comparison with evolutionary algorithms between stereoscopic images and a model, in order to identify thin pieces in a constrained time frame. First, we extract characteristic component information by binarization and skeletonization of the images. Then, we retrieve the position of the objects in a 3 three-dimensional space through an evolutionary algorithm derived from Harmony Search Optimisation (HSO). Lastly, we extract and validate optimal parameter ranges for which the devised algorithm shows a high efficiency for representative component positions of randomly arranged thin objects.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-1049096" status="VALID">
          <orgName>Complex Systems and Translational Bioinformatics</orgName>
          <orgName type="acronym">ICube-CSTB</orgName>
          <date type="start">2016-01-01</date>
          <desc>
            <address>
              <addrLine>300 bd Sébastien Brant - F-67412 Illkirch Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://cstb.icube.unistra.fr/en</ref>
          </desc>
          <listRelation>
            <relation active="#struct-217648" type="direct"/>
            <relation active="#struct-94023" type="indirect"/>
            <relation active="#struct-199013" type="indirect"/>
            <relation active="#struct-211628" type="indirect"/>
            <relation active="#struct-261615" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR7357" active="#struct-441569" type="indirect"/>
            <relation active="#struct-529627" type="indirect"/>
            <relation name="FR3627" active="#struct-199013" type="indirect"/>
            <relation active="#struct-237692" type="indirect"/>
            <relation active="#struct-303623" type="indirect"/>
            <relation active="#struct-341038" type="indirect"/>
            <relation name="FR3627" active="#struct-441569" type="indirect"/>
            <relation active="#struct-529628" type="indirect"/>
            <relation name="FR3678" active="#struct-199013" type="indirect"/>
            <relation active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-340448" status="VALID">
          <orgName>Hager Group</orgName>
          <date type="start">1955-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://hager.com/fr</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-217648" status="VALID">
          <idno type="IdRef">176969721</idno>
          <idno type="RNSR">201320497C</idno>
          <idno type="ROR">https://ror.org/00k4e5n71</idno>
          <idno type="Wikidata">Q30262162</idno>
          <orgName>Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie</orgName>
          <orgName type="acronym">ICube</orgName>
          <date type="start">2013-01-01</date>
          <desc>
            <address>
              <addrLine>300 bd Sébastien Brant - BP 10413 - F-67412 Illkirch Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://icube.unistra.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-94023" type="direct"/>
            <relation active="#struct-199013" type="direct"/>
            <relation active="#struct-211628" type="direct"/>
            <relation active="#struct-261615" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR7357" active="#struct-441569" type="direct"/>
            <relation active="#struct-529627" type="direct"/>
            <relation name="FR3627" active="#struct-199013" type="direct"/>
            <relation active="#struct-237692" type="indirect"/>
            <relation active="#struct-303623" type="indirect"/>
            <relation active="#struct-341038" type="indirect"/>
            <relation name="FR3627" active="#struct-441569" type="direct"/>
            <relation active="#struct-529628" type="direct"/>
            <relation name="FR3678" active="#struct-199013" type="direct"/>
            <relation active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-94023" status="VALID">
          <idno type="ROR">https://ror.org/02jhjzd11</idno>
          <orgName>École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg</orgName>
          <orgName type="acronym">ENGEES</orgName>
          <desc>
            <address>
              <addrLine>1 quai Koch - BP 61039 - 67070 Strasbourg Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://engees.unistra.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-199013" status="VALID">
          <idno type="IdRef">131056549</idno>
          <idno type="ROR">https://ror.org/00pg6eq24</idno>
          <orgName>Université de Strasbourg</orgName>
          <orgName type="acronym">UNISTRA</orgName>
          <desc>
            <address>
              <addrLine>4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.unistra.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-211628" status="VALID">
          <idno type="IdRef">030378842</idno>
          <idno type="ROR">https://ror.org/04bckew43</idno>
          <orgName>Hôpitaux Universitaires de Strasbourg</orgName>
          <orgName type="acronym">HUS</orgName>
          <desc>
            <address>
              <addrLine>1 place de l'hôpital BP 426 67091 Strasbourg cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.chru-strasbourg.fr/</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-261615" status="VALID">
          <orgName>Institut National des Sciences Appliquées - Strasbourg</orgName>
          <orgName type="acronym">INSA Strasbourg</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-strasbourg.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-529627" status="VALID">
          <idno type="RNSR">201420878M</idno>
          <orgName>Matériaux et Nanosciences Grand-Est</orgName>
          <orgName type="acronym">MNGE</orgName>
          <date type="start">2014-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation name="FR3627" active="#struct-199013" type="direct"/>
            <relation active="#struct-237692" type="direct"/>
            <relation active="#struct-303623" type="direct"/>
            <relation active="#struct-341038" type="direct"/>
            <relation name="FR3627" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-237692" status="VALID">
          <idno type="IdRef">026403250</idno>
          <idno type="ISNI">0000000404735039</idno>
          <idno type="ROR">https://ror.org/04k8k6n84</idno>
          <orgName>Université de Haute-Alsace (UHA) Mulhouse - Colmar</orgName>
          <orgName type="acronym">Université de Haute-Alsace (UHA)</orgName>
          <desc>
            <address>
              <addrLine>2, rue des Frères Lumière F-68093 Mulhouse Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.uha.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-303623" status="VALID">
          <idno type="IdRef">026388278</idno>
          <idno type="ROR">https://ror.org/02vjkv261</idno>
          <orgName>Institut National de la Santé et de la Recherche Médicale</orgName>
          <orgName type="acronym">INSERM</orgName>
          <desc>
            <address>
              <addrLine>101, rue de Tolbiac, 75013 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inserm.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-341038" status="VALID">
          <idno type="IdRef">232435103</idno>
          <idno type="ISNI">000000010626358X</idno>
          <idno type="ROR">https://ror.org/02cte4b68</idno>
          <orgName>Institut de Chimie - CNRS Chimie</orgName>
          <orgName type="acronym">INC-CNRS</orgName>
          <date type="start">2009-10-01</date>
          <desc>
            <address>
              <addrLine>CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE3 rue Michel-Ange75794 PARIS CEDEX 16 - France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.cnrs.fr/inc</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-529628" status="VALID">
          <orgName>Réseau nanophotonique et optique</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation name="FR3678" active="#struct-199013" type="direct"/>
            <relation active="#struct-237692" type="direct"/>
            <relation active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>