物体姿勢推定arXiv:2001.04134
NimbRo物流プロジェクト：キッティングボット
NimbRo Logistics -- Project KittingBot
点群のみでは情報不足な物体姿勢推定を、物体の対称性と固定カメラ画像を活用して改善し、ねじ・ナット・ワッシャーが混在する卓上シーンでナットを検出する手法を提案した。
著者: Rosche Robin, Minh Triet Chau
分類: cs.RO
原文アブストラクト
Recovering the pose of an object from mere point clouds is often hindered by the lack of the information that they provide. In this lab, we address this problem by proposing a method that exploits the symmetry of objects as well as using pictures taken from a static camera of the same scene. We apply this approach to detects nuts in a table top scene that includes screws, nuts, washers and several placeholders for grasp planning.
