CAD-based pose estimation for random bin-picking of multiple objects using a RGB-D camera

Cheng Hei Wu, Sin Yi Jiang, Kai-Tai Song*

*Corresponding author for this work

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

18 Scopus citations

Abstract

In this paper, we propose a CAD-based 6-DOF pose estimation design for random bin-picking of multiple different objects using a Kinect RGB-D sensor. 3D CAD models of objects are constructed via a virtual camera, which generates a point cloud database for object recognition and pose estimation. A voxel grid filter is suggested to reduce the number of 3D point cloud of objects for reducing computing time of pose estimation. A voting-scheme method was adopted for the 6-DOF pose estimation a swell as object recognition of different type objects in the bin. Furthermore, an outlier filter is designed to filter out bad matching poses and occluded ones, so that the robot arm always picks up the upper object in the bin to increase pick up success rate. A series of experiments on a Kuka 6-axis robot revels that the proposed system works satisfactorily to pick up all random objects in the bin. The average recognition rate of three different type objects is 93.9% and the pickup success rate is 89.7%.

Original languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1645-1649
Number of pages5
ISBN (Electronic)9788993215090
DOIs
StatePublished - 23 Dec 2015
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 13 Oct 201516 Oct 2015

Publication series

NameICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Conference

Conference15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period13/10/1516/10/15

Keywords

  • 6-DOF pose estimation
  • Industrial robot
  • random bin-picking

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    Wu, C. H., Jiang, S. Y., & Song, K-T. (2015). CAD-based pose estimation for random bin-picking of multiple objects using a RGB-D camera. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1645-1649). [7364621] (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364621