Object detection and pose estimation method by RGB-D camera for robotic grasping

Guohao Tang; Fanghu Yang; Xin Hu; Shaolei Xu; Weijiang Xiao; Yanyang Dang; Jiangwei Xie; Xingyu Gao; Yang Huang

doi:10.1117/12.3026448

1 April 2024 Object detection and pose estimation method by RGB-D camera for robotic grasping

Guohao Tang, Fanghu Yang, Xin Hu, Shaolei Xu, Weijiang Xiao, Yanyang Dang, Jiangwei Xie, Xingyu Gao, Yang Huang

Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 130820T (2024) https://doi.org/10.1117/12.3026448
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China

Abstract

In the application of vision-guided robotic grasping, 2D position/orientation and 3D depth information are needed. This paper proposes a method for detecting the 4-DoF grasping of unknown objects, which using the combined RGB image and 3D point clouds data by RGB-D camera. The 3-DoF grasp information is obtained by segmenting the target region from the RGB image. Then the depth is converted into a point cloud image by 3D reconstruction. By using an improved RANSAC to fit point cloud planes of the background and object, the height difference between object surface and the planar bottom is determined. The information of Z-axis grasping depth for achieving 4-DoF grasping is determined by RANSAC plane fitting. Experiments are conducted to verify and validate the effectiveness of the proposed method in automated robotic grasping.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Guohao Tang, Fanghu Yang, Xin Hu, Shaolei Xu, Weijiang Xiao, Yanyang Dang, Jiangwei Xie, Xingyu Gao, and Yang Huang "Object detection and pose estimation method by RGB-D camera for robotic grasping", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 130820T (1 April 2024); https://doi.org/10.1117/12.3026448

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