Fast and precise 6D pose estimation of textureless objects using the point cloud and gray image
文献类型：期刊论文
| 作者 | 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
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| 刊名 | Applied Optics
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| 出版日期 | 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. |
| WOS关键词 | RECOGNITION |
| 资助项目 | National Natural Science Foundation of China (NSFC)[U1713216] |
| 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) |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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