Single-Camera Multi-View 6DoF pose estimation for robotic grasping.

ABSTRACT: Accurately estimating the 6DoF pose of objects during robot grasping is a common problem in robotics. However, the accuracy of the estimated pose can be compromised during or after grasping the object when the gripper collides with other parts or occludes the view. Many approaches to improving pose estimation involve using multi-view methods that capture RGB images from multiple cameras and fuse the data. While effective, these methods can be complex and costly to implement. In this paper, we present a Single-Camera Multi-View (SCMV) method that utilizes just one fixed monocular camera and the initiative motion of robotic manipulator to capture multi-view RGB image sequences. Our method achieves more accurate 6DoF pose estimation results. We further create a new T-LESS-GRASP-MV dataset spe

SUBMITTER: Yuan S 

PROVIDER: S-EPMC10293638 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature