Authors:
Kay Boehnke
and
Marius Otesteanu
Affiliation:
Polytehnica University Timisoara, Romania
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.