Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm
	Liu, Wei1 ; Chen, Tianshi 2; Wang, Peng1 ; Qiao, Hong1
发表期刊	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
	2012-12-01
卷号	68 期号:3-4 页码:293-306
文章类型	Article
摘要	In industrial fields, precise pose of a 3D workpiece can guide operations like grasping and assembly tasks, thus precise estimation of pose of a 3D workpiece has received intensive attention over the last decades. When utilizing vision system as the source of pose estimation, it is difficult to get the pose of a 3D workpiece from the 2D image data provided by the vision system. Conventional methods face the complexity of model construction and time consumption on geometric matching. To overcome these difficulties, this paper proposes a search-based method to determine appropriate model and pose of a 3D workpiece that match the 2D image data. Concretely, we formulate the above problem as an optimization problem aiming at finding appropriate model parameters and pose parameters which minimizes the error between the notional 2D image (given by the model/pose parameters being optimized) and the real 2D image (provided by the vision system). Due to the coupling of model and pose parameters and discontinuity of the objective function, the above optimization problem cannot be tackled by conventional optimization techniques. Hence, we employ an evolutionary algorithm to cope with the optimization problem, where the evolutionary algorithm utilizes our problem-specific knowledge and adopts a hierarchical coarse-to-fine style to meet the requirement of online estimation. Experimental results demonstrate that our method is effective and efficient.
关键词	Pose Estimation Evolutionary Algorithm Coarse-to-fine Online Optimization 3d Workpiece
WOS标题词	Science & Technology ; Technology
关键词[WOS]	PERSPECTIVE ; OBJECTS ; IMAGES ; MODELS ; VIEW
收录类别	SCI
语种	英语
WOS研究方向	Computer Science ; Robotics
WOS类目	Computer Science, Artificial Intelligence ; Robotics
WOS记录号	WOS:000310084800007
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3036
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Liu, Wei,Chen, Tianshi,Wang, Peng,et al. Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2012,68(3-4):293-306.
APA	Liu, Wei,Chen, Tianshi,Wang, Peng,&Qiao, Hong.(2012).Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,68(3-4),293-306.
MLA	Liu, Wei,et al."Pose Estimation for 3D Workpiece Grasping in Industrial Environment Based on Evolutionary Algorithm".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 68.3-4(2012):293-306.