Model based Detection and 3D Localization of Planar Objects for Industrial Setups

Basak Sakcak; Luca Bascetta; Gianni Ferretti

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Paper

Model based Detection and 3D Localization of Planar Objects for Industrial Setups

Topics: Image Processing; Vision, Recognition and Reconstruction

In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 360-367, 2016 , Lisbon, Portugal

Authors: Basak Sakcak ; Luca Bascetta and Gianni Ferretti

Affiliation: Politecnico di Milano, Italy

Keyword(s): Model based Object Recognition, Pose Estimation, Chamfer Matching.

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

Abstract: In this work we present a method to detect and estimate the three-dimensional pose of planar and textureless objects placed randomly on a conveyor belt or inside a bin. The method is based on analysis of single 2D images acquired by a standard camera. The algorithm exploits a template matching method to recognize the objects. A set of pose hypotheses are then refined and, based on a gradient orientation scoring, the best object to be manipulated is selected. The method is flexible and can be used with different objects without changing parameters since it exploits a CAD model as input for template generation. We validated the method using synthetic images. An experimental setup has been also designed using a fixed standard camera to localize planar metal objects in various scenarios.

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Paper citation in several formats:

Sakcak, B.; Bascetta, L. and Ferretti, G. (2016). Model based Detection and 3D Localization of Planar Objects for Industrial Setups. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-198-4; ISSN 2184-2809, SciTePress, pages 360-367. DOI: 10.5220/0005982503600367

@conference{icinco16,
author={Basak Sakcak. and Luca Bascetta. and Gianni Ferretti.},
title={Model based Detection and 3D Localization of Planar Objects for Industrial Setups},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2016},
pages={360-367},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005982503600367},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Model based Detection and 3D Localization of Planar Objects for Industrial Setups
SN - 978-989-758-198-4
IS - 2184-2809
AU - Sakcak, B.
AU - Bascetta, L.
AU - Ferretti, G.
PY - 2016
SP - 360
EP - 367
DO - 10.5220/0005982503600367
PB - SciTePress