Voting-based pose estimation for robotic assembly using a 3D sensor

Changhyun Choi, Yuichi Taguchi, Oncel Tuzel, Ming Yu Liu, Srikumar Ramalingam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

113 Scopus citations

Abstract

We propose a voting-based pose estimation algorithm applicable to 3D sensors, which are fast replacing their 2D counterparts in many robotics, computer vision, and gaming applications. It was recently shown that a pair of oriented 3D points, which are points on the object surface with normals, in a voting framework enables fast and robust pose estimation. Although oriented surface points are discriminative for objects with sufficient curvature changes, they are not compact and discriminative enough for many industrial and real-world objects that are mostly planar. As edges play the key role in 2D registration, depth discontinuities are crucial in 3D. In this paper, we investigate and develop a family of pose estimation algorithms that better exploit this boundary information. In addition to oriented surface points, we use two other primitives: boundary points with directions and boundary line segments. Our experiments show that these carefully chosen primitives encode more information compactly and thereby provide higher accuracy for a wide class of industrial parts and enable faster computation. We demonstrate a practical robotic bin-picking system using the proposed algorithm and a 3D sensor.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1724-1731
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

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  • Cite this

    Choi, C., Taguchi, Y., Tuzel, O., Liu, M. Y., & Ramalingam, S. (2012). Voting-based pose estimation for robotic assembly using a 3D sensor. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1724-1731). [6225371] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225371