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Authors: Kay Boehnke and Marius Otesteanu

Affiliation: Polytehnica University Timisoara, Romania

ISBN: 978-989-8111-31-9

Keyword(s): Iterative Closest Points, Surface registration, Progressive Mesh, laser range sensors, Object localization, Robotic bin picking.

Related Ontology Subjects/Areas/Topics: Image Processing ; Industrial Networks and Automation ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: This paper describes a hierarchical registration process using the iterative closest point algorithm combined with a Progressive Mesh. To find the exact pose of objects in a robotic bin picking process we simulate the appearance of object poses and compare them with the real range data provided by laser range sensors. The coarse pose is estimated in a first step and then refined with the well known iterative Closest Point (ICP) algorithm combined with Progressive Meshes for hierarchical object localization. We evaluate our approach with different test scenarios and show the comprehensive potential of this idea for other registration problems.

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Paper citation in several formats:
Boehnke K.; Otesteanu M. and (2008). PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-31-9, pages 121-124. DOI: 10.5220/0001494801210124

@conference{icinco08,
author={Kay Boehnke and Marius Otesteanu},
title={PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={121-124},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001494801210124},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING
SN - 978-989-8111-31-9
AU - Boehnke, K.
AU - Otesteanu, M.
PY - 2008
SP - 121
EP - 124
DO - 10.5220/0001494801210124

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