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CAD-Based Pose Estimation - Algorithm Investigation
Linköping University, Department of Electrical Engineering, Computer Vision.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

One fundamental task in robotics is random bin-picking, where it is important to be able to detect an object in a bin and estimate its pose to plan the motion of a robotic arm. For this purpose, this thesis work aimed to investigate and evaluate algorithms for 6D pose estimation when the object was given by a CAD model. The scene was given by a point cloud illustrating a partial 3D view of the bin with multiple instances of the object. Two algorithms were thus implemented and evaluated. The first algorithm was an approach based on Point Pair Features, and the second was Fast Global Registration. For evaluation, four different CAD models were used to create synthetic data with ground truth annotations.

It was concluded that the Point Pair Feature approach provided a robust localization of objects and can be used for bin-picking. The algorithm appears to be able to handle different types of objects, however, with small limitations when the object has flat surfaces and weak texture or many similar details. The disadvantage with the algorithm was the execution time. Fast Global Registration, on the other hand, did not provide a robust localization of objects and is thus not a good solution for bin-picking.

Place, publisher, year, edition, pages
2019. , p. 53
Keywords [en]
6D pose estimation, bin-picking, point cloud, Point Pair Feature, Fast Global Registration
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-157776ISRN: LiTH-ISY-EX--19/5239--SEOAI: oai:DiVA.org:liu-157776DiVA, id: diva2:1330419
External cooperation
SICK IVP
Subject / course
Computer Vision Laboratory
Presentation
2019-06-11, Algoritmen, 08:15 (English)
Supervisors
Examiners
Available from: 2019-06-26 Created: 2019-06-25 Last updated: 2019-06-26Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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