Model based Detection and 3D Localization of Planar Objects for Industrial Setups

Basak Sakcak, Luca Bascetta, Gianni Ferretti

2016

Abstract

In this work we present a method to detect and estimate the three-dimensional pose of planar and textureless objects placed randomly on a conveyor belt or inside a bin. The method is based on analysis of single 2D images acquired by a standard camera. The algorithm exploits a template matching method to recognize the objects. A set of pose hypotheses are then refined and, based on a gradient orientation scoring, the best object to be manipulated is selected. The method is flexible and can be used with different objects without changing parameters since it exploits a CAD model as input for template generation. We validated the method using synthetic images. An experimental setup has been also designed using a fixed standard camera to localize planar metal objects in various scenarios.

Paper Citation

in Harvard Style

Sakcak B., Bascetta L. and Ferretti G. (2016). Model based Detection and 3D Localization of Planar Objects for Industrial Setups . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 360-367. DOI: 10.5220/0005982503600367

in Bibtex Style

@conference{icinco16,
author={Basak Sakcak and Luca Bascetta and Gianni Ferretti},
title={Model based Detection and 3D Localization of Planar Objects for Industrial Setups},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={360-367},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005982503600367},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Model based Detection and 3D Localization of Planar Objects for Industrial Setups
SN - 978-989-758-198-4
AU - Sakcak B.
AU - Bascetta L.
AU - Ferretti G.
PY - 2016
SP - 360
EP - 367
DO - 10.5220/0005982503600367