The Handling and Sorting System for 55-Gallon Drums (HANDSS-55) is a DOE project to develop an automated method for retrieving items that are not acceptable at the Waste Isolation Pilot Plant (WIPP) from 55-gallon drums of low-level waste. The HANDSS-55 is a modular system that opens drums, sorts the waste, and then repackages the remaining waste in WIPP compliant barrels. The Sorting Station module relies on a non-contact measurement system to quickly provide a 3D profile of the sorting area. It then analyses the 3D profile and a color image to determine the position and orientation of an operator selected waste item. The item is then removed from the sorting area by a robotic arm. The use of both image and profile information for object determination provides a fast, effective method of finding and retrieving selected objects in the unstructured environment of the sorting module
