Fig. 10From: Detection of object arrangement patterns using images for robot picking\({\text{Q}}\). \(\bar{X}_{ij} + \left| {x_{i} - x_{j} } \right|\) and \(\bar{Y}_{ij} + \left| {y_{i} - y_{j} } \right|\) show the maximum distance between BBs in the horizontal and vertical direction, respectivelyBack to article page