PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING

Kay Boehnke, Marius Otesteanu

Abstract

This paper describes a hierarchical registration process using the iterative closest point algorithm combined with a Progressive Mesh. To find the exact pose of objects in a robotic bin picking process we simulate the appearance of object poses and compare them with the real range data provided by laser range sensors. The coarse pose is estimated in a first step and then refined with the well known iterative Closest Point (ICP) algorithm combined with Progressive Meshes for hierarchical object localization. We evaluate our approach with different test scenarios and show the comprehensive potential of this idea for other registration problems.

References

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Paper Citation


in Harvard Style

Boehnke K. and Otesteanu M. (2008). PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 121-124. DOI: 10.5220/0001494801210124


in Bibtex Style

@conference{icinco08,
author={Kay Boehnke and Marius Otesteanu},
title={PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={121-124},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001494801210124},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - PROGRESSIVE MESH BASED ITERATIVE CLOSEST POINTS FOR ROBOTIC BIN PICKING
SN - 978-989-8111-31-9
AU - Boehnke K.
AU - Otesteanu M.
PY - 2008
SP - 121
EP - 124
DO - 10.5220/0001494801210124