Feature-Based Object Detection and Pose Estimation Based on 3D Cameras and CAD Models for Industrial Robot Applications

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

1 Citation (Scopus)

Abstract

This paper presents a feature-based object detection and pose estimation method. In this approach, a user selects geometric features from a CAD model of an object. The selected features are then matched against measured features from the 3D cameras. Software modules were developed for the method and were tested in a robot cell. Based on the results, our approach provides a fast way to configure and program the pose estimation system for new objects. Target applications of the approach are in small series and agile, even one-of-a-kind manufacturing.
Original languageEnglish
Title of host publicationMESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Subtitle of host publicationProceedings
PublisherIEEE Institute of Electrical and Electronic Engineers
Number of pages5
ISBN (Electronic)978-1-6654-5570-1
DOIs
Publication statusPublished - 2022
MoE publication typeA4 Article in a conference publication
Event18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022 : Hybrid Event - National Taiwan University of Science and Technology International Building 202, Taipei, Taiwan, Province of China
Duration: 28 Nov 202230 Nov 2022

Conference

Conference18th International Conference on Mechatronic, Embedded Systems and Applications, IEEE/ASME MESA 2022
Country/TerritoryTaiwan, Province of China
CityTaipei
Period28/11/2230/11/22

Keywords

  • 3D cameras
  • CAD models
  • Object detection
  • Robotics

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