Title :
An evolutionary algorithm for posture estimation of a three-dimensional object
Author :
Kida, Yuya ; Yata, Noriko ; Nagao, Tomoharu
Author_Institution :
Grad. Sch. of Environ. & Inf. Sci., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
Recently, the automation of picking work has advanced in the factory for the reduction of labor costs. When picking work is automatic, it is very important to estimate posture of target components. Therefore, an algorithm to automatically estimate posture is expected. We propose an efficient method to improve Differential Evolution (DE). Then, we applied the proposal method and DE to experiment to estimate posture of each four three-dimensional (3-D) objects by using the 3-D CAD data. The experimental results show that the proposal method achieves high success rate and efficiency than DE.
Keywords :
CAD; evolutionary computation; factory automation; industrial robots; pose estimation; robot vision; 3-D CAD data; differential evolution; evolutionary algorithm; factory automation; posture estimation; three dimensional object; Computational modeling; Estimation; Evolutionary computation; Interpolation; Proposals; Quaternions; Solid modeling; Differential Evolution (DE); Evolutionary Algorithms (EAs); Spherical Linear intERPolation (SLERP); posture estimation;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
