6DoF Pose Estimation of Transparent Object from a Single RGB-D Image.

ABSTRACT: 6DoF object pose estimation is a foundation for many important applications, such as robotic grasping, automatic driving, and so on. However, it is very challenging to estimate 6DoF pose of transparent object which is commonly seen in our daily life, because the optical characteristics of transparent material lead to significant depth error which results in false estimation. To solve this problem, a two-stage approach is proposed to estimate 6DoF pose of transparent object from a single RGB-D image. In the first stage, the influence of the depth error is eliminated by transparent segmentation, surface normal recovering, and RANSAC plane estimation. In the second stage, an extended point-cloud representation is presented to accurately and efficiently estimate object pose. As far as we know,

SUBMITTER: Xu C 

PROVIDER: S-EPMC7729467 | biostudies-literature | 2020 Nov

REPOSITORIES: biostudies-literature