Naslov
Robot Assisted 3D Point Cloud Object Registration

Autori
Jerbić, Bojan ; Šuligoj, Filip ; Švaco, Marko ; Šekoranja, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Procedia Engineering 100 / Branko Katalinić - Beč, 2014, 847-852

Skup
25th DAAAM International Symposium on Intelligent Manufacturing and Automation, 2014

Mjesto i datum
Beč, Austrija, 26.11.2014. - 29.11.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Point cloud data ; position estimation ; object recognition ; machine learning ; stereovision

Sažetak
N this paper we describe a method for registration of 3D point clouds that represent objects of interest. A stereovision system is used to capture point clouds of a static environment, robot arm and an unknown object. By moving the robot arm in the environment the proposed system defines known occupied zones and is able to identify the robot arm. In order to identify a complete point cloud presentation of the robot gripper it is rotated in front of a stereovision camera and its geometry is captured from different angles. Iterative closest point algorithm is used to determine a rigid transformation between every new robot pose so the original point cloud can be appended with the transformed one. When the robot is holding a new object the registration procedure is repeated and known elements (environment, robot arm and gripper) are removed so that the object can be identified.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA