Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박종일 | - |
dc.date.accessioned | 2021-03-03T05:42:02Z | - |
dc.date.available | 2021-03-03T05:42:02Z | - |
dc.date.issued | 2020-01 | - |
dc.identifier.citation | 2020 International Conference on Electronics, Information, and Communication (ICEIC), Page. 685-688 | en_US |
dc.identifier.isbn | 978-1-7281-6289-8 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9051361 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/160142 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This work was supported by Institute for Information & communications Technology Promotion(IITP) grant funded by the Korea government(MSIT)(No.2017-0-01849,Development of Core Technology for Real-Time Image Composition in Unstructured In-outdoor Environment). | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEIE | en_US |
dc.subject | point cloud registration | en_US |
dc.subject | robotic bin picking | en_US |
dc.subject | 3D point cloud to 2.5D point cloud | en_US |
dc.title | An Analysis of Factors Affecting Point Cloud Registration for Bin Picking | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/ICEIC49074.2020.9051361 | - |
dc.relation.page | 685-688 | - |
dc.contributor.googleauthor | Kim, Jongwook | - |
dc.contributor.googleauthor | Kim, Hyungmin | - |
dc.contributor.googleauthor | Park, Jong-Il | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF COMPUTER SCIENCE | - |
dc.identifier.pid | jipark | - |
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