6D pose estimation of textureless shiny objects using random ferns for bin-picking

Abstract

We address the problem of 6D pose estimation of a textureless and shiny object from single-view 2D images, for a bin-picking task. For a textureless object like a mechanical part, conventional visual feature matching usually fails due to the absence of rich texture features. Hierarchical template matching assumes that few templates can cover all object appearances. However, the appearance of a shiny object largely depends on its pose and illumination. Furthermore, in a bin-picking task, we must cope with partial occlusions, shadows, and inter-reflections.

DOI: 10.1109/IROS.2012.6385680

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Cite this paper

@article{Rodrigues20126DPE, title={6D pose estimation of textureless shiny objects using random ferns for bin-picking}, author={Jos{\'e} Jeronimo Rodrigues and Jun-Sik Kim and Makoto Furukawa and Jo{\~a}o M. F. Xavier and Pedro M. Q. Aguiar and Takeo Kanade}, journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2012}, pages={3334-3341} }