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Proceedings Paper

Three-dimensional object pose estimation for robotic assembly applications
Author(s): Songtao Li; Dongming Zhao
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Paper Abstract

3D image processing is a subset of computer vision area. Object pose estimation is an important application in 3D object recognition. A 3D object pose estimation method is developed for an automated manufacturing assembly application. The target parts are extracted from the original range images using the traditional edge detection and segmentation methods. The center position is then computed through the circle Hough transform algorithm. For the 3D orientation estimation, a 3D geometrical feature descriptor, angle distance map (ADM), is proposed to describe the 3D local surface feature. A triangular mesh model of 3D object is used for reducing the computational complexity. The principal components analysis method is applied on the ADM descriptions for efficient comparison. The orientation information is computed according to the extracted 3D feature points. The proposed method is tested in an application for flexible robot assembly. The experimental results show that accurate 3D pose estimation can be obtained.

Paper Details

Date Published: 25 September 2001
PDF: 11 pages
Proc. SPIE 4553, Visualization and Optimization Techniques, (25 September 2001); doi: 10.1117/12.441554
Show Author Affiliations
Songtao Li, Univ. of Michigan/Dearborn (United States)
Dongming Zhao, Univ. of Michigan/Dearborn (United States)

Published in SPIE Proceedings Vol. 4553:
Visualization and Optimization Techniques

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