Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation

Troels B. Jørgensen, Thorbjørn M. Iversen, Anders P. Lindvig, Christian Schlette, Dirk Kraft, Thiusius R. Savarimuthu, Jürgen Rossmann, Norbert Krüger

2018

Abstract

In this paper, we optimize the placement of a camera in simulation in order to achieve a high success rate for a pose estimation problem. This is achieved by simulating 2D images from a stereo camera in a virtual scene. The stereo images are then used to generate 3D point clouds based on two different methods, namely a single shot stereo matching approach and a multi shot approach using phase shift patterns. After a point cloud is generated, we use a RANSAC-based pose estimation algorithm, which relies on feature matching of local 3D descriptors. The object we pose estimate is a tray containing items to be grasped by a robot. The pose estimation is done for different positions of the tray and with different item configuration in the tray, in order to determine the success rate of the pose estimation algorithm for a specific camera placement. Then the camera placement is varied according to different optimization algorithms in order to maximize the success rate. Finally, we evaluate the simulation in a real world scene, to determine whether the optimal camera position found in simulation matches the real scenario.

Paper Citation

in Harvard Style

Jørgensen T., Iversen T., Lindvig A., Schlette C., Kraft D., Savarimuthu T., Rossmann J. and Krüger N. (2018). Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation. In Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP; ISBN 978-989-758-290-5, SciTePress, pages 524-533. DOI: 10.5220/0006553005240533

in Bibtex Style

@conference{visapp18,
author={Troels B. Jørgensen and Thorbjørn M. Iversen and Anders P. Lindvig and Christian Schlette and Dirk Kraft and Thiusius R. Savarimuthu and Jürgen Rossmann and Norbert Krüger},
title={Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation},
booktitle={Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP},
year={2018},
pages={524-533},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006553005240533},
isbn={978-989-758-290-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP
TI - Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation
SN - 978-989-758-290-5
AU - Jørgensen T.
AU - Iversen T.
AU - Lindvig A.
AU - Schlette C.
AU - Kraft D.
AU - Savarimuthu T.
AU - Rossmann J.
AU - Krüger N.
PY - 2018
SP - 524
EP - 533
DO - 10.5220/0006553005240533
PB - SciTePress