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1. 1. CAD-Based Pose Estimation - Algorithm Investigation

   University essay from Linköpings universitet/Datorseende

   Author : Annette Lef; [2019]
   Keywords : 6D pose estimation; bin-picking; point cloud; Point Pair Feature; Fast Global Registration;

   Abstract : One fundamental task in robotics is random bin-picking, where it is important to be able to detect an object in a bin and estimate its pose to plan the motion of a robotic arm. For this purpose, this thesis work aimed to investigate and evaluate algorithms for 6D pose estimation when the object was given by a CAD model. READ MORE