Progressive Mesh based Iterative Closest Points for Robotic Bin Picking

@inproceedings{Boehnke2008ProgressiveMB,
  title={Progressive Mesh based Iterative Closest Points for Robotic Bin Picking},
  author={Kay Boehnke and Marius Otesteanu},
  booktitle={ICINCO-RA},
  year={2008}
}
This paper describes a hierarchical registration process using the iterative closest point algorithm combined with a Progressive Mesh. To find the exact pose of objects in a robotic bin picking process we simulate the appearance of object poses and compare them with the real range data provided by laser range sensors. The coarse pose is estimated in a first step and then refined with the well known iterative Closest Point (ICP) algorithm combined with Progressive Meshes for hierarchical object… CONTINUE READING

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