Fast 6D object pose estimation of shell parts for robotic assembly
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Summary
Aiming at 6D pose error compensation of parts in high-precision robotic assembly tasks, this work proposes a fast 6D poses estimation method tailored for the shell parts and proves that both the accuracy and efficiency of the pose estimation method meet the required assembly tasks.
- Type
- article
- Published
- 2021-09-16
- Cited by
- 8
- References
- 37
- Access
- Open access
- OpenAlex
- https://openalex.org/W3201205132
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:240526827
Keywords
Pose, 3D pose estimation, Iterative closest point, Point cloud, Computer vision
References
- A modified ICP algorithm based on dynamic adjustment factor for registration of point cloud and CAD model
- A refined ICP algorithm for robust 3-D correspondence estimation
- Automated guidance of peg-in-hole assembly tasks for complex-shaped parts
- Automated inspection of aircraft parts using a modified ICP algorithm
- A Method for Registration of 3-D Shapes
- Cached k-d tree search for ICP algorithms
- Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration
- Visual Location System for Placement Machine Based on Machine Vision
- Iterative point matching for registration of free-form curves and surfaces
- Efficient variants of the ICP algorithm
- NICP: Dense normal based point cloud registration
- Fast Point Feature Histograms (FPFH) for 3D registration
- Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration
- Robotic assembly of smartphone back shells with eye-in-hand visual servoing
- Speedup 3-D Texture-Less Object Recognition Against Self-Occlusion for Intelligent Manufacturing
- Point cloud and visual feature-based tracking method for an augmented reality-aided mechanical assembly system
- Visual Object Recognition and Pose Estimation Based on a Deep Semantic Segmentation Network
- A pose estimation system based on deep neural network and ICP registration for robotic spray painting application
- A symmetric objective function for ICP
- Iterative Hough Forest with Histogram of Control Points for 6 DoF object registration from depth images
Cited by
- A Point Cloud Data-Driven Pallet Pose Estimation Method Using an Active Binocular Vision Sensor
- 6D Pose Estimation for Precision Assembly
- A novel optimization algorithm for assemblable region boundary points search in high-dimensional posture space of parts assembly
- Measurement Approach for the Pose of Flanges in Cabin Assemblies through Distributed Vision
- Markless Visual Servoing for 3C Product Assembly with Quotient Kinematics Manipulator
- Towards cognition-augmented human-centric assembly: A visual computation perspective
- A multi-stage approach for desired part grasping under complex backgrounds in human-robot collaborative assembly
- Robot learning from demonstration for assembly with camera-supplemented optical motion capture sensors
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