11 July 2016 Pose estimation of occluded objects with an improved template matching method
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Proceedings Volume 10011, First International Workshop on Pattern Recognition; 1001115 (2016) https://doi.org/10.1117/12.2242706
Event: First International Workshop on Pattern Recognition, 2016, Tokyo, Japan
Abstract
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.
© (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
J. H. Su, Z. Y. Liu, G. Yang, "Pose estimation of occluded objects with an improved template matching method", Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001115 (11 July 2016); doi: 10.1117/12.2242706; https://doi.org/10.1117/12.2242706
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