Pose Estimation of Occluded Objects with an Improved Template Matching Method

被引：0
|
作者：
Su, J. H. [1 ]
Liu, Z. Y. [1 ]
Yang, G. [2 ]
机构：
[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
[2] Beijing Jiaotong Univ, Beijing, Peoples R China
来源：
FIRST INTERNATIONAL WORKSHOP ON PATTERN RECOGNITION | 2016年 / 0011卷
关键词：
Pose estimation; ellipse detection; occlusion; robot vision;
D O I：
10.1117/12.2242706
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Picking up objects in arbitrary poses is an important step in manufacturing. However, the occlusion of object will cause the picking process difficult. This paper presents a hierarchical detection method to estimate the pose of the object such as rod and bearing even in occluding. Combining the ellipse detection with the template matching, it is possible to identify the pose of a target object that is not be occluded. The propose method will enable a robot to grasp a non-occluded object and ensure a successful picking. Experiments witness the validity the method.
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页数：5
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