7 accepted papers
This paper presents a method for contact-based pose estimation of workpieces using a collaborative robot. The proposed pose estimation exploits positions and surface normal vectors along an arbitrary path on an object with known geometry, where surface normal vectors are estimated based on contact f…
Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in principle be able to meet these demands for a wide range of part…
Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately. This configuration is time-consuming and limits the usability o…
We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry. We also present a new method for 6D pose estimation of rigid objects using the learnt distributions to sample, score…
In robotics, vision sensors are used to estimate the poses of objects in the environment. However, it is a fundamental problem that the estimated poses are not always accurate enough for a given robotic task. Proper sensor placement can mitigate this problem. We present a method which can predict th…
We propose two methods to robustify point correspondence based 6D object pose estimation. The first method, curvature filtering, is based on the assumption that low curvature regions provide false matches, and removing points in these regions improves robustness. The second method, region pruning, i…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to find putative point correspondences between the models due to t…