Robotic tidy-up tasks using point cloud-based pose estimation

Jinglan Piao, Hyunjun Jo, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

To perform a tidy-up task using a robot arm, it is necessary to estimate the pose of various objects. Generally, pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm to estimate the pose of unknown objects without the help of CAD models. Furthermore, the strategies on grasping and object manipulation for robotic tidy-up are also proposed. First, the geometric and color information are considered together to segment the various objects in the aligned point cloud. Then, the principal component analysis (PCA) scheme is used to estimate the object frame and the placement state. Based on this estimation, the proposed strategies were introduced to make it possible to tidy up the objects. It was shown from various experiments that the proposed method can be effectively applied to the robotic tidy-up tasks.

Original languageEnglish
Title of host publication2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PublisherIEEE Computer Society
Pages316-319
Number of pages4
ISBN (Electronic)9788993215205
DOIs
Publication statusPublished - 2020 Oct 13
Event20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of
Duration: 2020 Oct 132020 Oct 16

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2020-October
ISSN (Print)1598-7833

Conference

Conference20th International Conference on Control, Automation and Systems, ICCAS 2020
CountryKorea, Republic of
CityBusan
Period20/10/1320/10/16

Keywords

  • Grasping
  • Object manipulation
  • Point cloud
  • Pose estimation
  • Robotic
  • Tidy-up task

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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