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Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image
Pan W(潘旺)1,2; Zhu F(朱枫)1,3,4; Hao YM(郝颖明)1,3,4; Zhang LM(张丽敏)1,2
Department光电信息技术研究室
Source PublicationApplied Optics
ISSN1559-128X
2018
Volume57Issue:28Pages:8154-8165
Indexed BySCI ; EI
EI Accession number20184005901194
WOS IDWOS:000446048600008
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China (NSFC)
AbstractPose estimation for textureless objects is a challenging task in robotics, due to the scanty information of surfaces. In this paper, we design a vision system for fast and precise position and orientation measurement of textureless objects with a depth camera and a CCD camera. The corresponding process includes two parts: object segmentation in the point cloud and pose measurement in the gray image. Considering the relation between the object and its fixed panel, we first extract the panel in the point cloud by combining a random sample consensus algorithm with local surface normal. We then coarsely segment the possible area of the object based on an oriented bounding box. Finally, we transform the point cloud coordinates into the image coordinate system, and measure the precise pose of the object with a view-based matching method. Two types of cameras are brought together to make their respective advantages play well. The downscale method and coarse-to-fine strategy are utilized sufficiently to increase efficiency. Experiments show that our vision system achieves high pose measurement precision and enough efficiency. The average error is less than 2 mm for x and y, less than 4 mm for z, and 1° in orientation, meeting the requirements for our robotic grasping task.
Language英语
WOS SubjectOptics
WOS KeywordRECOGNITION
WOS Research AreaOptics
Funding ProjectNational Natural Science Foundation of China (NSFC)[U1713216]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23358
Collection光电信息技术研究室
Corresponding AuthorZhu F(朱枫)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China
4.Key Laboratory of Image Understanding and Computer Vision, Liaoning Province, Shenyang 110016, China
Recommended Citation
GB/T 7714
Pan W,Zhu F,Hao YM,et al. Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image[J]. Applied Optics,2018,57(28):8154-8165.
APA Pan W,Zhu F,Hao YM,&Zhang LM.(2018).Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image.Applied Optics,57(28),8154-8165.
MLA Pan W,et al."Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image".Applied Optics 57.28(2018):8154-8165.
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