Title | 3D pose estimation for bin-picking task using convex hull |
Authors | Xu, Jie Pu, Songtao Zeng, Gang Zha, Hongbin |
Affiliation | Machine Perception Lab., Peking University, Beijing, China |
Issue Date | 2012 |
Citation | 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012.Chengdu, China. |
Abstract | Object pose estimation in bin-picking task is an important problem in the industry. Since objects shapes are very different, there not exists a general method now to deal with all kinds of objects. Here we use convex hulls of the planes of the objects to do object 3D pose estimation. This method ignores details of objects shapes, and is robust in matching. Our method is applicable for all the objects with planes. The experiments show that our method is efficiency and fast, and is applicable in real-time bin-picking task. ? 2012 IEEE. |
URI | http://hdl.handle.net/20.500.11897/412210 |
DOI | 10.1109/ICMA.2012.6284338 |
Indexed | EI |
Appears in Collections: | 机器感知与智能教育部重点实验室 |