Guanyu Xu, Hongwei Dong, Junhao Qian, Zhenlei Xu. Pose Estimation Algorithm for Random Bins Based on Point Pair Features[J]. Laser & Optoelectronics Progress, 2020, 57(18): 181508
- Laser & Optoelectronics Progress
- Vol. 57, Issue 18, 181508 (2020)
Fig. 1. Flow chart of pose estimation algorithm based on point pair features
Fig. 2. Diagram of point pair feature
Fig. 3. Diagram of building a Hash table
Fig. 4. Diagram of local coordinates
Fig. 5. Diagram of voting process
Fig. 6. Diagram of consistency adjustment of point cloud normal direction. (a) Original point clouds; (b) point cloud normal direction before adjustment; (c) point cloud normal direction after adjustment
Fig. 7. Diagram of gripping pose strategy adjustment. (a) Objects to be gripped; (b) top 5 proposed poses; (c) output poses
Fig. 8. Diagram of adjustment of angle deviation caused by rotational symmetry
Fig. 9. Diagrams of gripping system. (a) Simulation environment; (b) real environment
Fig. 10. Diagrams of pose estimation. (a) Simulation environment; (b) real environment
Fig. 11. Line charts of pose estimation results. (a) Simulation environment; (b) real environment
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Table 1. Statistics of gripping success rate in experiments
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Table 2. Statistics of point cloud matching results of simulation data
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