POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS

Thomas B. Moeslund, Jakob Kirkegaard

2006

Abstract

One of the remaining obstacles to a widespread introduction of industrial robots is their inability to deal with 3D objects in a bin that are not precisely positioned, i.e., the bin-picking problem. In this work we address the general bin-picking problem where a CAD model of the object to be picked is available beforehand. Structured light, in the form of Time Multiplexed Binary Stripes, is used together with a calibrated camera to obtain 3D data of the objects in the bin. The 3D data is then segmented into points of interest and for each a regional feature vector is extracted. The features are the Harmonic Shape Contexts. These are characterized by being rotational invariant and can in general model any free-form object. The Harmonic Shape Contexts are extracted from the 3D scene data and matched against similar features found in the CAD model. This allows for a pose estimation of the objects in the bin. Tests show the method to be capable of pose estimating partial-occluded objects, however, the method is also found to be sensitive to the resolution in the structured light system and to noise in the data.

Paper Citation

in Harvard Style

B. Moeslund T. and Kirkegaard J. (2006). POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 101-108. DOI: 10.5220/0001367201010108

in Bibtex Style

@conference{visapp06,
author={Thomas B. Moeslund and Jakob Kirkegaard},
title={POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={101-108},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001367201010108},
isbn={972-8865-40-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - POSE ESTIMATION USING STRUCTURED LIGHT AND HARMONIC SHAPE CONTEXTS
SN - 972-8865-40-6
AU - B. Moeslund T.
AU - Kirkegaard J.
PY - 2006
SP - 101
EP - 108
DO - 10.5220/0001367201010108