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International Conference on Intelligent Robotics and Applications

ICIRA 2017: Intelligent Robotics and Applications pp 36–47Cite as

Pose Estimation with Mismatching Region Detection in Robot Bin Picking

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

Abstract

3D object detection and pose estimation based on 3D sensor have been widely studied for its applications in robotics. In this paper, we propose a new clustering strategy in Point Pair Feature (PPF) based 3D object detection and pose estimation framework to further improve the pose hypothesis result. Our main contribution is using Density Based Spatial Clustering of Applications with Noise (DBSCAN) and Principle Component Analysis (PCA) in PPF method. It was recently shown that point pair feature combined with a voting framework was able to obtain a fast and robust pose estimation result in heavily cluttered scenes with occlusions. However, this method may fail in the mismatching region caused by false features or features with insufficient information. Our experimental results show that the proposed method can detect mismatching region and false pose hypotheses in PPF method, which improves the performance in robot bin picking application.

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Acknowledgements

This work is partially supported by the National Natural Science Foundation of China (51375309). The support is gratefully acknowledged.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhe Wang, Lei Jia, Lei Zhang & Chungang Zhuang

Authors
  1. Zhe Wang
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  2. Lei Jia
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  3. Lei Zhang
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  4. Chungang Zhuang
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Corresponding author

Correspondence to Chungang Zhuang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Wang, Z., Jia, L., Zhang, L., Zhuang, C. (2017). Pose Estimation with Mismatching Region Detection in Robot Bin Picking. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_4

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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