Jerbić, Bojan and Šuligoj, Filip and Švaco, Marko and Šekoranja, Bojan (2014) Robot assisted 3D point cloud object registration. = Robot assisted 3D point cloud object registration. In: 25th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAAM 2014, 26-29.11.2014., Beč, Austria.
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Robot_Assisted_3D_Point_Cloud_Object_Registration.pdf - Accepted Version Jezik dokumenta:English Download (510kB) | Preview |
Abstract
In 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.
| Item Type: | Conference or Workshop Item (Lecture) |
|---|---|
| Keywords (Croatian): | cloud data, position estimation, object recognition, machine learning, stereovision |
| Subjects: | TECHNICAL SCIENCE > Mechanical Engineering |
| Divisions: | 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning |
| Indexed in Web of Science: | Yes |
| Indexed in Current Contents: | No |
| Date Deposited: | 19 Sep 2016 14:37 |
| Last Modified: | 24 Sep 2018 08:21 |
| URI: | http://repozitorij.fsb.hr/id/eprint/6380 |
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