Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 光电信息技术研究室

	Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image
	Zhang LM(张丽敏)1,4 ; Pan W(潘旺)1,4 ; Zhu F(朱枫)1,2,3 ; Hao YM(郝颖明)1,2,3
刊名	Applied Optics
	2018
卷号	57 期号:28 页码:8154-8165
ISSN号	1559-128X
产权排序	1
英文摘要	Pose 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.
资助项目	National Natural Science Foundation of China (NSFC)[U1713216]
WOS关键词	RECOGNITION
WOS研究方向	Optics
语种	英语
WOS记录号	WOS:000446048600008
资助机构	National Natural Science Foundation of China (NSFC)
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/23358]
专题	沈阳自动化研究所_光电信息技术研究室
通讯作者	Zhu F(朱枫)
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Laboratory of Image Understanding and Computer Vision, Liaoning Province, Shenyang 110016, China 3.Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Zhang LM,Pan W,Zhu F,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	Zhang LM,Pan W,Zhu F,&Hao YM.(2018).Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image.Applied Optics,57(28),8154-8165.
MLA	Zhang LM,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.