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Authors: Thomas B. Moeslund and Jakob Kirkegaard

Affiliation: Aalborg University, Denmark

ISBN: 972-8865-40-6

ISSN: 2184-4321

Keyword(s): Bin-picking, rotational invariant features, surface mesh, time multiplexed binary stripes, CAD model.

Abstract: One of the remaining obstacles to a widespread introduction of industrial robots is their inability to deal with 3D objects in a bin that are not precisely positioned, i.e., the bin-picking problem. In this work we address the general bin-picking problem where a CAD model of the object to be picked is available beforehand. Structured light, in the form of Time Multiplexed Binary Stripes, is used together with a calibrated camera to obtain 3D data of the objects in the bin. The 3D data is then segmented into points of interest and for each a regional feature vector is extracted. The features are the Harmonic Shape Contexts. These are characterized by being rotational invariant and can in general model any free-form object. The Harmonic Shape Contexts are extracted from the 3D scene data and matched against similar features found in the CAD model. This allows for a pose estimation of the objects in the bin. Tests show the method to be capable of pose estimating partial-occluded objects, however, the method is also found to be sensitive to the resolution in the structured light system and to noise in the data. (More)

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Paper citation in several formats:
B. Moeslund, T. and Kirkegaard, J. (2006). POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS.In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 101-108. DOI: 10.5220/0001367201010108

@conference{visapp06,
author={Thomas {B. Moeslund} and Jakob Kirkegaard},
title={POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={101-108},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001367201010108},
isbn={972-8865-40-6},
}

TY - CONF

JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS
SN - 972-8865-40-6
AU - B. Moeslund, T.
AU - Kirkegaard, J.
PY - 2006
SP - 101
EP - 108
DO - 10.5220/0001367201010108

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