Title :
6D pose estimation of textureless shiny objects using random ferns for bin-picking
Author :
Rodrigues, José Jeronimo ; Kim, Jun-Sik ; Furukawa, Makoto ; Xavier, João ; Aguiar, Pedro ; Kanade, Takeo
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
We address the problem of 6D pose estimation of a textureless and shiny object from single-view 2D images, for a bin-picking task. For a textureless object like a mechanical part, conventional visual feature matching usually fails due to the absence of rich texture features. Hierarchical template matching assumes that few templates can cover all object appearances. However, the appearance of a shiny object largely depends on its pose and illumination. Furthermore, in a bin-picking task, we must cope with partial occlusions, shadows, and inter-reflections.
Keywords :
image matching; image texture; manipulators; photometry; pose estimation; robot vision; stereo image processing; 6D pose estimation; bin-picking; data-driven method; discretized pose hypotheses; image channel; mechanical part; photometric stereo; random ferns; robotic manipulation; single-view 2D images; textureless shiny objects; visual feature matching; Databases; Estimation; Image color analysis; Imaging; Light sources; Surface reconstruction; Training;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385680