Abstract: An optoelectronic code reading apparatus is provided that has at least one camera-based code reader having an image sensor for recording image data from a reading zone, that has a control and evaluation unit that comprises a decoding unit for locating code zones in the image data and for reading their code content, and that has a filter unit to determine whether a multiple reading has taken place in which a plurality of codes were read. In this respect, the filter unit is furthermore configured to check the geometry of the code zones in the case of a multiple reading to identify a valid code.

Abstract: An optoelectronic code reading apparatus is provided that has at least one camera-based code reader having an image sensor for recording image data from a reading zone, that has a control and evaluation unit that comprises a decoding unit for locating code zones in the image data and for reading their code content, and that has a filter unit to determine whether a multiple reading has taken place in which a plurality of codes were read. In this respect, the filter unit is furthermore configured to check the geometry of the code zones in the case of a multiple reading to identify a valid code.

Abstract: The invention relates to a method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor and the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another. In this respect, the boundary of the objects is determined from a two-dimensional image generated by the camera, a spatial position is determined from detected distance information of the 3D sensor and of the two-dimensional image and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.

Abstract: The invention relates to a method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor and the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another. In this respect, the boundary of the objects is determined from a two-dimensional image generated by the camera, a spatial position is determined from detected distance information of the 3D sensor and of the two-dimensional image and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.