@inproceedings{541dee2209fa4c51a55730cdabbf6cb5,
title = "6 DOF Pose Estimation for Efficient Robot Manipulation",
abstract = "To manipulate 3D objects, pose estimation techniques are necessary. So, in this paper we proposed a 6D pose estimation algorithm for robotic manipulation, which has several advantages over existing methods: first, it does not need any large data-set and costly computing techniques; and second, it can work with various camera sensor modules. In our proposed method, we integrated two feature matching algorithms for matching the features between the current image and database images to locate the target. RANdom SAmple Consensus (RANSAC) algorithm was used to refine the inlier points of the object from the outliers points. Later, Perspective-n-point (P-n-P) algorithm was adopted to compute the pose of the object. Experiments revealed that the proposed method can locate and compute object poses successfully.",
keywords = "feature matching, Object detection, Perspective-n-point, pose estimation, RANSAC",
author = "Lin, {Hsien I.} and Subhajit Nanda",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 ; Conference date: 10-06-2020 Through 12-06-2020",
year = "2020",
month = jun,
day = "10",
doi = "10.1109/ICPS48405.2020.9274783",
language = "English",
series = "Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "279--284",
booktitle = "Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020",
address = "美國",
}