Perception Subsystem for Object Recognition and Pose Estimation in RGB-D Images

Tomasz Michał Kornuta , Michał Laszkowski


RGB-D sensors have become key components of all kind of robotic systems. In this paper we present a perception subsystem for object recognition and pose estimation in RGB-D images. The system is able to recognize many objects at once, disregarding whether they belong to one or many classes. Next to the detailed description of the principle of the system operation we present several off-line and on-line experiments validating the system, including verification in the task of picking up recognized objects with IRp-6 manipulator.
Author Tomasz Michał Kornuta (FEIT / AK)
Tomasz Michał Kornuta,,
- The Institute of Control and Computation Engineering
, Michał Laszkowski (FEIT / AK)
Michał Laszkowski,,
- The Institute of Control and Computation Engineering
Publication size in sheets0.5
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishRGB-D image SIFT Object recognition Pose estimation Object picking
ProjectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
Kornuta Laszk Aut-16 rgbd-grasping.pdf 5.06 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 16-10-2020, BookChapterSeriesAndMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 16-10-2020, BookChapterSeriesAndMatConfByConferenceseries
Publication indicators WoS Citations = 2; Scopus Citations = 3
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