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- Publisher Website: 10.1109/IROS.2015.7354003
- Scopus: eid_2-s2.0-84958156690
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Conference Paper: Multi-contour initial pose estimation for 3D registration
Title | Multi-contour initial pose estimation for 3D registration |
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Authors | |
Issue Date | 2015 |
Publisher | IEEE/RSJ. The Proceedings' web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393 |
Citation | The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. How to Cite? |
Abstract | Reliable manipulation of everyday household objects is essential to the success of service robots. In order to accurately manipulate these objects, robots need to know objects’ full 6-DOF pose, which is challenging due to sensor noise, clutters and occlusions. In this paper, we present a new approach for effectively guessing the object pose given an observation of just a small patch of the object, by leveraging the fact that many household objects can only keep stable on a planar surface under a small set of poses. In particular, for each stable pose of an object, we slice the object with horizontal planes and extract multiple cross-section contours. The pose estimation is then reduced to find a stable pose whose contour matches best with that of the sensor data, and this can be solved efficiently by convolution. Experiments on the manipulation tasks in the DARPA Robotics Challenge validate our approach. In addition, we also investigate our method’s performance on object recognition tasks raising in the challenge. |
Persistent Identifier | http://hdl.handle.net/10722/211508 |
DC Field | Value | Language |
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dc.contributor.author | Cheung, CHE | - |
dc.contributor.author | Cao, C | - |
dc.contributor.author | Pan, J | - |
dc.date.accessioned | 2015-07-16T02:01:09Z | - |
dc.date.available | 2015-07-16T02:01:09Z | - |
dc.date.issued | 2015 | - |
dc.identifier.citation | The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. | - |
dc.identifier.uri | http://hdl.handle.net/10722/211508 | - |
dc.description.abstract | Reliable manipulation of everyday household objects is essential to the success of service robots. In order to accurately manipulate these objects, robots need to know objects’ full 6-DOF pose, which is challenging due to sensor noise, clutters and occlusions. In this paper, we present a new approach for effectively guessing the object pose given an observation of just a small patch of the object, by leveraging the fact that many household objects can only keep stable on a planar surface under a small set of poses. In particular, for each stable pose of an object, we slice the object with horizontal planes and extract multiple cross-section contours. The pose estimation is then reduced to find a stable pose whose contour matches best with that of the sensor data, and this can be solved efficiently by convolution. Experiments on the manipulation tasks in the DARPA Robotics Challenge validate our approach. In addition, we also investigate our method’s performance on object recognition tasks raising in the challenge. | - |
dc.language | eng | - |
dc.publisher | IEEE/RSJ. The Proceedings' web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393 | - |
dc.relation.ispartof | IEEE/RSJ International Conference on Intelligent Robots and Systems | - |
dc.rights | ©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.title | Multi-contour initial pose estimation for 3D registration | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Cheung, CHE: ernest1@hku.hk | - |
dc.identifier.email | Pan, J: jpan@cs.hku.hk | - |
dc.identifier.authority | Pan, J=rp01984 | - |
dc.description.nature | postprint | - |
dc.identifier.doi | 10.1109/IROS.2015.7354003 | - |
dc.identifier.scopus | eid_2-s2.0-84958156690 | - |
dc.identifier.hkuros | 244990 | - |
dc.publisher.place | Hamburg, Germany | - |