Pose estimation of occluded objects with an improved template matching method

J. H. Su; Z. Y. Liu; G. Yang

doi:10.1117/12.2242706

11 July 2016 Pose estimation of occluded objects with an improved template matching method

J. H. Su, Z. Y. Liu, G. Yang

Proceedings Volume 10011, First International Workshop on Pattern Recognition; 1001115 (2016) https://doi.org/10.1117/12.2242706
Event: First International Workshop on Pattern Recognition, 2016, Tokyo, Japan

Abstract

Picking up objects in arbitrary poses is an important step in manufacturing. However, the occlusion of object will cause the picking process difficult. This paper presents a hierarchical detection method to estimate the pose of the object such as rod and bearing even in occluding. Combining the ellipse detection with the template matching, it is possible to identify the pose of a target object that is not be occluded. The propose method will enable a robot to grasp a non-occluded object and ensure a successful picking. Experiments witness the validity the method.

Citation Download Citation

J. H. Su, Z. Y. Liu, and G. Yang "Pose estimation of occluded objects with an improved template matching method", Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001115 (11 July 2016); https://doi.org/10.1117/12.2242706

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