NDLI: 3D irregular object recognition for twist-lock handling system

Content Provider	IEEE Xplore Digital Library
Author	Shuang Ma Changjiu Zhou Liandong Zhang Wei Hong Yantao Tian
Copyright Year	2014
Description	Author affiliation: Coll. of Commun. Eng., Jilin Univ., Changchun, China (Shuang Ma; Wei Hong; Yantao Tian) \|\| Adv. Robot. & Intell. Control Centre, Singapore, Singapore (Changjiu Zhou; Liandong Zhang)
Abstract	The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock grasping. The technical challenge is 3D irregular object recognition in unstructured port environment. In this paper, we use PCA and KPCA to do two-level object recognition only depending on depth information to determine the basic instance and pose information for twist-lock grasping. The extensive experiments are carried out to select the optimal recognition parameters, investigate the performance of PCA, KPCA and compare their performance. Since depth images are insensitive to changes in lighting conditions, the experimental results show that the proposed approach based on depth information is effective to address the issues and solve problems caused by rust and painting peeled off of twist-lock handling in unstructured port environment.
Starting Page	2729
Ending Page	2734
File Size	3421181
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852635
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Training KPCA Three-dimensional displays feature extraction Feature extraction 3D recognition Eigenvalues and eigenfunctions twist-lock handling Object recognition Kernel Principal component analysis PCA
Content Type	Text
Resource Type	Article

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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
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