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

fYear

2010

fDate

18-21 Aug. 2010

Firstpage

1637

Lastpage

1640

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference 2010, Proceedings of

Conference_Location

Taipei

Print_ISBN

978-1-4244-7642-8

Type

conf

Filename

5602794