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Authors: Mohit Vohra 1 ; Ravi Prakash 1 and Laxmidhar Behera 1 ; 2

Affiliations: 1 Department of Electrical Engineering, IIT Kanpur, India ; 2 TCS Innovation Labs, Noida, India

Keyword(s): Edge Extraction, Unorganized Point Cloud, Autonomous Grasping.

Abstract: In this paper, we propose a novel edge and corner detection algorithm for an unorganized point cloud. Our edge detection method classifies a query point as an edge point by evaluating the distribution of local neighboring points around the query point. The proposed technique has been tested on generic items such as dragons, bunnies, and coffee cups from the Stanford 3D scanning repository. The proposed technique can be directly applied to real and unprocessed point cloud data of random clutter of objects. To demonstrate the proposed technique’s efficacy, we compare it to the other solutions for 3D edge extractions in an unorganized point cloud data. We observed that the proposed method could handle the raw and noisy data with little variations in parameters compared to other methods. We also extend the algorithm to estimate the 6D pose of known objects in the presence of dense clutter while handling multiple instances of the object. The overall approach is tested for a warehouse appl ication, where an actual UR5 robot manipulator is used for robotic pick and place operations in an autonomous mode. (More)

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Paper citation in several formats:
Vohra, M., Prakash, R. and Behera, L. (2021). Edge and Corner Detection in Unorganized Point Clouds for Robotic Pick and Place Applications. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 245-253. DOI: 10.5220/0010501202450253

@conference{icinco21,
author={Mohit Vohra and Ravi Prakash and Laxmidhar Behera},
title={Edge and Corner Detection in Unorganized Point Clouds for Robotic Pick and Place Applications},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={245-253},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010501202450253},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Edge and Corner Detection in Unorganized Point Clouds for Robotic Pick and Place Applications
SN - 978-989-758-522-7
IS - 2184-2809
AU - Vohra, M.
AU - Prakash, R.
AU - Behera, L.
PY - 2021
SP - 245
EP - 253
DO - 10.5220/0010501202450253
PB - SciTePress

- Science and Technology Publications, Lda.
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