Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics

Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics

Bibliographic Details
Main Author: Lonsberry, Alexander J.
Language:English
Published: Case Western Reserve University School of Graduate Studies / OhioLINK 2011
Subjects:
Robotics
Object Recognition
3D
3-D
pose estimation
automatic correlation
bin-picking
robotics
bin picking
vision system
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=case1323468058
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-case13234680582021-08-03T05:34:26Z Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics Lonsberry, Alexander J. Robotics Object Recognition 3D 3-D pose estimation automatic correlation bin-picking robotics bin picking vision system This thesis presents a novel object recognition engine for the application of bin-picking. The algorithm is capable of quickly recognizing and estimating the pose of objects in a given unorganized scene. Based on the oriented point-pair feature vector, the algorithm matches points in the scene to points on the surface of an original model via an efficient voting process. Groups of features defining a point in the scene are used to find probable matching model points in a precompiled database. Sets of candidate model and scene point-pair matches are created and then filtered based on a geometric consistency constraint. Results show that the algorithm can produce centroid error values of less than ≈.55mm and angular error values of less than ≈4° without a secondary iterative closest point algorithm. Run-times are in the range of .1 to .5 secs to locate a single object. 2011 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1323468058 http://rave.ohiolink.edu/etdc/view?acc_num=case1323468058 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Robotics
Object Recognition
3D
3-D
pose estimation
automatic correlation
bin-picking
robotics
bin picking
vision system
spellingShingle Robotics
Object Recognition
3D
3-D
pose estimation
automatic correlation
bin-picking
robotics
bin picking
vision system
Lonsberry, Alexander J.
Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
author Lonsberry, Alexander J.
author_facet Lonsberry, Alexander J.
author_sort Lonsberry, Alexander J.
title Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
title_short Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
title_full Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
title_fullStr Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
title_full_unstemmed Fast Recognition and Pose Estimation for the Purpose of Bin-Picking Robotics
title_sort fast recognition and pose estimation for the purpose of bin-picking robotics
publisher Case Western Reserve University School of Graduate Studies / OhioLINK
publishDate 2011
url http://rave.ohiolink.edu/etdc/view?acc_num=case1323468058
work_keys_str_mv AT lonsberryalexanderj fastrecognitionandposeestimationforthepurposeofbinpickingrobotics
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