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http://dx.doi.org/10.5302/J.ICROS.2016.16.0144

Accurate Pose Measurement of Label-attached Small Objects Using a 3D Vision Technique  

Kim, Eung-su (School of Computer Science and Engineering, Kyungpook National University)
Kim, Kye-Kyung (Intelligent Cognitive Technology Research Department, ETRI)
Wijenayake, Udaya (School of Computer Science and Engineering, Kyungpook National University)
Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.10, 2016 , pp. 839-846 More about this Journal
Abstract
Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.
Keywords
stereo camera; bin picking; MSER; template matching; pose measurement;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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