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A 6D Pose Estimation for Robotic Bin-Picking Using Point-Pair Features with Curvature (Cur-PPF)
Pose estimation is a particularly important link in the task of robotic bin-picking. Its purpose is to obtain the 6D pose (3D position and 3D posture) of the target object. In real bin-picking scenarios, noise, overlap, and occlusion affect accuracy of pose estimation and lead to failure in robot gr...
Autores principales: | Cui, Xining, Yu, Menghui, Wu, Linqigao, Wu, Shiqian |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8914823/ https://www.ncbi.nlm.nih.gov/pubmed/35270952 http://dx.doi.org/10.3390/s22051805 |
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