197 0

An Analysis of Factors Affecting Point Cloud Registration for Bin Picking

Title
An Analysis of Factors Affecting Point Cloud Registration for Bin Picking
Author
박종일
Keywords
point cloud registration; robotic bin picking; 3D point cloud to 2.5D point cloud
Issue Date
2020-01
Publisher
IEIE
Citation
2020 International Conference on Electronics, Information, and Communication (ICEIC), Page. 685-688
Abstract
The robotic bin picking system is commonly used to automate processes in the manufacturing industry, by estimating the six degree-of-freedom (6-DoF) pose of an object. In particular, in vision-based systems, the pose of an object is estimated by registering a 3D point cloud acquired from a computer-aided design (CAD) model with a 2.5D point cloud acquired from a depth map. The registration process requires the correspondence points between 3D point cloud and 2.5D point cloud. Unfortunately, since the 3D point cloud and the 2.5D point cloud have different dimensions, performing registration is more challenging than with equivalent dimensions. In this paper, therefore, we analyze the process of 3D point cloud to 2.5D point cloud registration through the experiments to perform stable bin picking task. For the experiments, 2.5D point cloud is synthesized from 3D CAD model and uniformly adjusted for density and depth noise. By registering 3D point cloud to adjusted 2.5D point cloud, we quantitatively analyze how the adjusted density and depth noise affect the registration process.
URI
https://ieeexplore.ieee.org/document/9051361https://repository.hanyang.ac.kr/handle/20.500.11754/160142
ISBN
978-1-7281-6289-8
DOI
10.1109/ICEIC49074.2020.9051361
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > COMPUTER SCIENCE(컴퓨터소프트웨어학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE