Precise and efficient pose estimation of stacked objects for mobile manipulation in industrial robotics challenges. (3rd July 2019)

• Record Type: Journal Article
• Authors: Lim, Gi Hyun; Lau, Nuno; Pedrosa, Eurico; Amaral, Filipe; Pereira, Artur; Luís Azevedo, José; Cunha, Bernardo
• Is Part Of: Advanced robotics. Volume 33:Number 13(2019)
• Page Start: 636
• Page End: 646
• Publication Date: 2019-07-03
• Subjects: Pose estimation -- drawing pin filter -- stacked objects -- mobile manipulator -- robotics challenges; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1617780
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : Object manipulation tasks such as picking up, carrying and placing should be executed based on the information of objects which are provided by the perception system. A precise and efficient pose estimation system has been developed to address the requirements and to achieve the objectives for autonomous packaging, specifically picking up of stacked non-rigid objects. For fine pose estimation, a drawing pin shaped kernel and pinhole filtering methods are used on the roughly estimated pose of objects. The system has been applied in a realistic industrial environment as a challenging scenario for the Challenge 2 – Shop Floor Logistics and Manipulation on a mobile manipulator in the context of the European Robotics Challenges (EuRoC) project. GRAPHICAL ABSTRACT: