Robotic tidy-up tasks using point cloud-based pose estimation

Jinglan Piao; Hyunjun Jo; Jae Bok Song

doi:10.23919/ICCAS50221.2020.9268313

Robotic tidy-up tasks using point cloud-based pose estimation

Jinglan Piao, Hyunjun Jo, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

To perform a tidy-up task using a robot arm, it is necessary to estimate the pose of various objects. Generally, pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm to estimate the pose of unknown objects without the help of CAD models. Furthermore, the strategies on grasping and object manipulation for robotic tidy-up are also proposed. First, the geometric and color information are considered together to segment the various objects in the aligned point cloud. Then, the principal component analysis (PCA) scheme is used to estimate the object frame and the placement state. Based on this estimation, the proposed strategies were introduced to make it possible to tidy up the objects. It was shown from various experiments that the proposed method can be effectively applied to the robotic tidy-up tasks.

Original language	English
Title of host publication	2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
Publisher	IEEE Computer Society
Pages	316-319
Number of pages	4
ISBN (Electronic)	9788993215205
DOIs	https://doi.org/10.23919/ICCAS50221.2020.9268313
Publication status	Published - 2020 Oct 13
Event	20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of Duration: 2020 Oct 13 → 2020 Oct 16

Publication series

Name	International Conference on Control, Automation and Systems
Volume	2020-October
ISSN (Print)	1598-7833

Conference

Conference	20th International Conference on Control, Automation and Systems, ICCAS 2020
Country/Territory	Korea, Republic of
City	Busan
Period	20/10/13 → 20/10/16

Bibliographical note

Funding Information:
This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622)

Publisher Copyright:
© 2020 Institute of Control, Robotics, and Systems - ICROS.

Keywords

Grasping
Object manipulation
Point cloud
Pose estimation
Robotic
Tidy-up task

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.23919/ICCAS50221.2020.9268313

Cite this

Piao, J., Jo, H., & Song, J. B. (2020). Robotic tidy-up tasks using point cloud-based pose estimation. In 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020 (pp. 316-319). Article 9268313 (International Conference on Control, Automation and Systems; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS50221.2020.9268313

Robotic tidy-up tasks using point cloud-based pose estimation. / Piao, Jinglan; Jo, Hyunjun; Song, Jae Bok.
2020 20th International Conference on Control, Automation and Systems, ICCAS 2020. IEEE Computer Society, 2020. p. 316-319 9268313 (International Conference on Control, Automation and Systems; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Piao, J, Jo, H & Song, JB 2020, Robotic tidy-up tasks using point cloud-based pose estimation. in 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020., 9268313, International Conference on Control, Automation and Systems, vol. 2020-October, IEEE Computer Society, pp. 316-319, 20th International Conference on Control, Automation and Systems, ICCAS 2020, Busan, Korea, Republic of, 20/10/13. https://doi.org/10.23919/ICCAS50221.2020.9268313

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abstract = "To perform a tidy-up task using a robot arm, it is necessary to estimate the pose of various objects. Generally, pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm to estimate the pose of unknown objects without the help of CAD models. Furthermore, the strategies on grasping and object manipulation for robotic tidy-up are also proposed. First, the geometric and color information are considered together to segment the various objects in the aligned point cloud. Then, the principal component analysis (PCA) scheme is used to estimate the object frame and the placement state. Based on this estimation, the proposed strategies were introduced to make it possible to tidy up the objects. It was shown from various experiments that the proposed method can be effectively applied to the robotic tidy-up tasks.",

keywords = "Grasping, Object manipulation, Point cloud, Pose estimation, Robotic, Tidy-up task",

author = "Jinglan Piao and Hyunjun Jo and Song, {Jae Bok}",

note = "Funding Information: This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Publisher Copyright: {\textcopyright} 2020 Institute of Control, Robotics, and Systems - ICROS.; 20th International Conference on Control, Automation and Systems, ICCAS 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

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Robotic tidy-up tasks using point cloud-based pose estimation

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this