TY - GEN
T1 - Robotic tidy-up tasks using point cloud-based pose estimation
AU - Piao, Jinglan
AU - Jo, Hyunjun
AU - Song, Jae Bok
N1 - Funding Information:
This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622)
Publisher Copyright:
© 2020 Institute of Control, Robotics, and Systems - ICROS.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - 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.
AB - 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.
KW - Grasping
KW - Object manipulation
KW - Point cloud
KW - Pose estimation
KW - Robotic
KW - Tidy-up task
UR - http://www.scopus.com/inward/record.url?scp=85098069984&partnerID=8YFLogxK
U2 - 10.23919/ICCAS50221.2020.9268313
DO - 10.23919/ICCAS50221.2020.9268313
M3 - Conference contribution
AN - SCOPUS:85098069984
T3 - International Conference on Control, Automation and Systems
SP - 316
EP - 319
BT - 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PB - IEEE Computer Society
T2 - 20th International Conference on Control, Automation and Systems, ICCAS 2020
Y2 - 13 October 2020 through 16 October 2020
ER -