Feature-Based Object Detection and Pose Estimation Based on 3D Cameras and CAD Models for Industrial Robot Applications

被引：1

作者：

Seppala, Tuomas ^{[1
]}

Saukkoriipi, Janne ^{[1
]}

Lohi, Taneli ^{[1
]}

Soutukorva, Samuli ^{[1
]}

Heikkila, Tapio ^{[1
]}

Koskinen, Jukka ^{[1
]}

机构：

[1] VTT Tech Res Ctr Finland Ltd, Oulu, Finland

来源：

2022 18TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2022) | 2022年

关键词：

Robotics; 3D cameras; CAD models; Object detection; RECOGNITION;

D O I：

10.1109/MESA55290.2022.10004402

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a feature-based object detection and pose estimation method. In this approach, a user selects geometric features from a CAD model of an object. The selected features are then matched against measured features from the 3D cameras. Software modules were developed for the method and were tested in a robot cell. Based on the results, our approach provides a fast way to configure and program the pose estimation system for new objects. Target applications of the approach are in small series and agile, even one-of- a-kind manufacturing.

引用

页数：5

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