NDLI: Localization of freely curved pipes for bin picking

Content Provider	IEEE Xplore Digital Library
Author	Kita, Y. Kawai, Y.
Copyright Year	2015
Description	Author affiliation: Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan (Kita, Y.; Kawai, Y.)
Abstract	A method for detecting the position and orientation of freely curved pipes is proposed for the purpose of bin picking. We assume that the geometrical model of the object of interest is given and the bin of objects can be observed using a widely available low-cost 3D sensor. As freely curved pipes do not have distinguishable feature points, typical feature-based matching methods cannot be applied directly in this case. Although the iterative closest point (ICP) algorithm [1] is a suitable strategy for registering a 3D model with free-form surfaces to its observed 3D data, two difficulties arise when applying the ICP algorithm in the case where the background is filled with objects with the same shape. One of these is the initial estimation of the position and orientation of an object from among similar shaped point clouds. The other difficulty is robust point matching between the 3D model and the observed data belonging to a single object. To solve these issues, we investigated two key ideas: 1) estimation of pipe orientation by checking the shape of the cross-section of the observed 3D data while changing cutting directions of the sections; and 2) point matching based on ridge lines with respect to the camera direction. Experiments using actual observed data show the effectiveness of the proposed method.
Starting Page	1
Ending Page	8
File Size	1073223
Page Count	8
File Format	PDF
e-ISBN	9781467379298
DOI	10.1109/ETFA.2015.7301507
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-08
Publisher Place	Luxembourg
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Shape Iterative closest point algorithm Data models Solid modeling Convergence Estimation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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