Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm
文献类型：期刊论文
| 作者 | Liu, Wei1 ; Chen, Tianshi2; Wang, Peng1; Qiao, Hong1
|
| 刊名 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
 |
| 出版日期 | 2012-12-01 |
| 卷号 | 68期号:3-4页码:293-306 |
| 关键词 | Pose estimation Evolutionary algorithm Coarse-to-fine Online optimization 3D workpiece |
| 英文摘要 | In industrial fields, precise pose of a 3D workpiece can guide operations like grasping and assembly tasks, thus precise estimation of pose of a 3D workpiece has received intensive attention over the last decades. When utilizing vision system as the source of pose estimation, it is difficult to get the pose of a 3D workpiece from the 2D image data provided by the vision system. Conventional methods face the complexity of model construction and time consumption on geometric matching. To overcome these difficulties, this paper proposes a search-based method to determine appropriate model and pose of a 3D workpiece that match the 2D image data. Concretely, we formulate the above problem as an optimization problem aiming at finding appropriate model parameters and pose parameters which minimizes the error between the notional 2D image (given by the model/pose parameters being optimized) and the real 2D image (provided by the vision system). Due to the coupling of model and pose parameters and discontinuity of the objective function, the above optimization problem cannot be tackled by conventional optimization techniques. Hence, we employ an evolutionary algorithm to cope with the optimization problem, where the evolutionary algorithm utilizes our problem-specific knowledge and adopts a hierarchical coarse-to-fine style to meet the requirement of online estimation. Experimental results demonstrate that our method is effective and efficient. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Robotics |
| 研究领域[WOS] | Computer Science ; Robotics |
| 关键词[WOS] | PERSPECTIVE ; OBJECTS ; IMAGES ; MODELS ; VIEW |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000310084800007 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3036]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Wei,Chen, Tianshi,Wang, Peng,et al. Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2012,68(3-4):293-306. |
| APA | Liu, Wei,Chen, Tianshi,Wang, Peng,&Qiao, Hong.(2012).Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,68(3-4),293-306. |
| MLA | Liu, Wei,et al."Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 68.3-4(2012):293-306. |
入库方式： OAI收割
来源：自动化研究所
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