| Presentation | 1999/2/19 Combining 0bject Recognition with Path Planning for Bin-picking Ayako Takenouchi, Naoyoshi Kanamaru, Makoto Mizukawa, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This proposed bin-picking method combines the object recognition with the path planning by using the environmental information which includes possible objects representing undetected objects. A Hough transform which uses a pair of object features is used for pose estimation to reduce the number of detection errors and the object-detection time. Simulated path planning and an experiment on casting objects using a range finder and a manipulator showed that proposed method improves the ability to plan a safe path. Simulated object detection and an experiment showed that using a pair of features makes the process faster and reduced the number of invalid votes. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Bin-picking / Range data / Hough-transform / Path-planning / Environmental information |
| Paper # | PRMU98-235 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 1999/2/19(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Combining 0bject Recognition with Path Planning for Bin-picking |
| Sub Title (in English) | |
| Keyword(1) | Bin-picking |
| Keyword(2) | Range data |
| Keyword(3) | Hough-transform |
| Keyword(4) | Path-planning |
| Keyword(5) | Environmental information |
| 1st Author's Name | Ayako Takenouchi |
| 1st Author's Affiliation | Nippon Telegraph and Telephone Corporation() |
| 2nd Author's Name | Naoyoshi Kanamaru |
| 2nd Author's Affiliation | Nippon Telegraph and Telephone Corporation |
| 3rd Author's Name | Makoto Mizukawa |
| 3rd Author's Affiliation | Nippon Telegraph and Telephone Corporation |
| Date | 1999/2/19 |
| Paper # | PRMU98-235 |
| Volume (vol) | vol.98 |
| Number (no) | 609 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |