Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stereo Vision-Based 3D Pose Estimation of Product Labels for Bin Picking

빈피킹을 위한 스테레오 비전 기반의 제품 라벨의 3차원 자세 추정

  • Udaya, Wijenayake (School of Computer Science and Engineering, Kyungpook National University) ;
  • Choi, Sung-In (School of Computer Science and Engineering, Kyungpook National University) ;
  • Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
  • Received : 2015.08.24
  • Accepted : 2015.12.16
  • Published : 2016.01.01
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Abstract

In the field of computer vision and robotics, bin picking is an important application area in which object pose estimation is necessary. Different approaches, such as 2D feature tracking and 3D surface reconstruction, have been introduced to estimate the object pose accurately. We propose a new approach where we can use both 2D image features and 3D surface information to identify the target object and estimate its pose accurately. First, we introduce a label detection technique using Maximally Stable Extremal Regions (MSERs) where the label detection results are used to identify the target objects separately. Then, the 2D image features on the detected label areas are utilized to generate 3D surface information. Finally, we calculate the 3D position and the orientation of the target objects using the information of the 3D surface.

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References

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