Depalletizing — Enabling robots to grasp unknown objects from a pallet

Raul Tiru
3 min readSep 22, 2022


Enabling robots to grasp unknown boxes and bags from a pallet

Robustly coping with variation

From boxes and trays to deformable objects, from closely stacked or overlapping objects to damaged goods, Fizyr software product enables robots to deal with variations on pallets successfully.

Based on all classifiers, Fizyr algorithms propose over 100 grasp poses every second in challenging environments, empowering robots to move faster and with confidence, while depalletizing unknown SKUs.

Our software product robustly segments even for transparent or white-taped boxes and empowers robots to pick from cluttered scenes!

Video: Robotic depalletizing for unstructured logistics environments using Fizyr’s software product.

Detection list including:

  • Boxes
  • Cardboard boxes/bags
  • White-on-white
  • Black-on-black
  • Fragile items
  • Deformable objects
  • Bags of milk powder
  • Closely stacked objects
  • Overlapping objects
  • Damaged goods (incl. gradation)
  • Outliers / Non-conveyables

Trained and proven in tough depalletizing applications

Detecting the physical boundaries of hard-to-see items on a pallet. Dealing with closely stacked and overlaps.


Including boxes, bags of coffee or cacao beans, milk powder, etc. Detecting slip sheets, packaging material and damages.

6 DoF Grasp Poses
Proposing the best grasp strategy based on all classifiers. You can configure your preferred multi-suction gripper. Our software will propose which (combination of) different suction cups to apply.

More on Fizyr’s solution

What makes Fizyr the right partner?

Global leader
We have built the best vision software, installed globally in many harsh logistics environments. We are strategic partners to multiple system integrators worldwide.

Modular software
Our Plug-and-Play product allows for both fast and easy integration. System integrators use our software as a module, optimizing for cost, robustness, and speed.

Flexible configuration
Our software is hardware agnostic, fitting well with any camera, robot, gripper, and PC. We are independent, there is no vendor lock-in and our clients are always in control.

Transparent and reliable
We help with system set up and support our clients during deployment. We have easy-to-understand specialized agreements, terms and conditions, and ensure operation continuation in case something happens with us (escrow).

Long-term commitment
We believe our clients should always be in control. We share our knowledge and expertise, and we aim for strong partnerships that result in building optimized picking cells. We all win together.

Passionate team
Fizyr has a dynamic, international team with a growth mindset, always applying the newest technologies. We get our energy from helping our clients succeed and we are driven to remain the best.

Let’s discuss how we can help you

We’re happy to chat to see how we can help solve your problems best. Schedule to pick our brains or request a demo.

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Raul Tiru

Co-founder, Founder Let’s create memorable content. #ContentCreation, #ContentMarketing, #Nonprofit