| 大会名称 |
|---|
| 2019年 情報科学技術フォーラム(FIT) |
| 大会コ－ド |
| F |
| 開催年 |
| 2019 |
| 発行日 |
| 2019-08-20 |
| セッション番号 |
| 5l |
| セッション名 |
| 画像工学（２） |
| 講演日 |
| 2019/09/04 |
| 講演場所(会議室等) |
| 一般教育棟 B棟 B32 |
| 講演番号 |
| I-014 |
| タイトル |
| Estimating the Positions of Target Objects Based on Object Recognition by Processing 3D Point Cloud Data |
| 著者名 |
| Qi Li, Jun Ohya, Atsuo Takanishi, Takashi Matsuzawa, Kenji Hashimo, |
| キーワード |
| Robot, Object Recognition, Position estimation, Grasp |
| 抄録 |
| Nowadays, robots grasping technic are being developed. Conventional methods to support grasping have some problems such as: not robust against changes in illumination conditions and cannot directly provide the position of the target object. This paper proposes a method for recognition and estimating the position of objects by analyzing 3D point cloud data. The procedure is as follows: (1) Pre-processing. (2) Segmentation. (3) Obtain the points’ features and match them. (4) Obtain coordinates. (5) Obtain the rotation and translation matrix. As the result of experiments, the accuracy of detection is 89 %. The mean error of estimating the distance is 0.835%. |
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