CASIA OpenIR  > 模式识别国家重点实验室  > 三维可视计算
Efficient MSPSO Sampling for Object Detection and 6-D Pose Estimation in 3-D Scenes
Xing, Xuejun1,2; Guo, Jianwei1,3; Nan, Liangliang4; Gu, Qingyi1,3; Zhang, Xiaopeng2; Yan, Dong-Ming1,3
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2022-10-01
Volume69Issue:10Pages:10281-10291
Corresponding AuthorGuo, Jianwei(jianwei.guo@nlpr.ia.ac.cn)
AbstractThe point pair feature (PPF) is widely used in manufacturing for estimating 6-D poses. The key to the success of PPF matching is to establish correct 3-D correspondences between the object and the scene, i.e., finding as many valid similar point pairs as possible. However, efficient sampling of point pairs has been overlooked in existing frameworks. In this article, we propose a revised PPF matching pipeline to improve the efficiency of 6-D pose estimation. Our basic idea is that the valid scene reference points are lying on the object's surface and the previously sampled reference points can provide prior information for locating new reference points. The novelty of our approach is a new sampling algorithm for selecting scene reference points based on the multisubpopulation particle swarm optimization guided by a probability map. We also introduce an effective pose clustering and hypotheses verification method to obtain the optimal pose. Moreover, we optimize the progressive sampling for multiframe point clouds to improve processing efficiency. The experimental results show that our method outperforms previous methods by 6.6%, 3.9% in terms of accuracy on the public DTU and LineMOD datasets, respectively. We further validate our approach by applying it in a real robot grasping task.
KeywordPose estimation Three-dimensional displays Robustness Robot kinematics Image segmentation Deep learning Clustering algorithms 3-D point cloud 6-D pose estimation multisubpopulation particle swarm optimization (MSPSO) point pair features (PPF)
DOI10.1109/TIE.2021.3121721
Indexed BySCI
Language英语
Funding ProjectNational Key RD Program[2018YFB2100602] ; National Natural Science Foundation of China[62172416] ; National Natural Science Foundation of China[62172415] ; National Natural Science Foundation of China[61802406] ; National Natural Science Foundation of China[61972459] ; Open Research Fund Program of State Key Laboratory of Hydroscience and Engineering, Tsinghua University[sklhse-2020-D-07] ; Scientific Instrument Developing Project of the Chinese Academy of Sciences[YJKYYQ20200045] ; Open Research Projects of Zhejiang Lab[2021KE0AB07] ; Open Research Projects of Zhejiang Lab[TC210H00L/42]
Funding OrganizationNational Key RD Program ; National Natural Science Foundation of China ; Open Research Fund Program of State Key Laboratory of Hydroscience and Engineering, Tsinghua University ; Scientific Instrument Developing Project of the Chinese Academy of Sciences ; Open Research Projects of Zhejiang Lab
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000790866600059
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/48453
Collection模式识别国家重点实验室_三维可视计算
Corresponding AuthorGuo, Jianwei
Affiliation1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China
3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
4.Delft Univ Technol, NL-2628 BL Delft, Netherlands
First Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xing, Xuejun,Guo, Jianwei,Nan, Liangliang,et al. Efficient MSPSO Sampling for Object Detection and 6-D Pose Estimation in 3-D Scenes[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2022,69(10):10281-10291.
APA Xing, Xuejun,Guo, Jianwei,Nan, Liangliang,Gu, Qingyi,Zhang, Xiaopeng,&Yan, Dong-Ming.(2022).Efficient MSPSO Sampling for Object Detection and 6-D Pose Estimation in 3-D Scenes.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,69(10),10281-10291.
MLA Xing, Xuejun,et al."Efficient MSPSO Sampling for Object Detection and 6-D Pose Estimation in 3-D Scenes".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 69.10(2022):10281-10291.
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