Single-Camera Multi-View 6DoF pose estimation for robotic grasping

Frontiers in Neurorobotics

Neuroscience

Zhenpeng Ge¹  Shuangjie Yuan¹  Lu Yang² 

[1] Fundamental Research Center, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China;null;

关键词: 6DoF pose estimation;    multi-view;    monocular motion;    industrial robots;    deep learning in robotic grasping;   

DOI  :  10.3389/fnbot.2023.1136882

 received in 2023-01-03, accepted in 2023-05-22,  发布年份 2023

来源: Frontiers

【 摘 要 】

Accurately estimating the 6DoF pose of objects during robot grasping is a common problem in robotics. However, the accuracy of the estimated pose can be compromised during or after grasping the object when the gripper collides with other parts or occludes the view. Many approaches to improving pose estimation involve using multi-view methods that capture RGB images from multiple cameras and fuse the data. While effective, these methods can be complex and costly to implement. In this paper, we present a Single-Camera Multi-View (SCMV) method that utilizes just one fixed monocular camera and the initiative motion of robotic manipulator to capture multi-view RGB image sequences. Our method achieves more accurate 6DoF pose estimation results. We further create a new T-LESS-GRASP-MV dataset specifically for validating the robustness of our approach. Experiments show that the proposed approach outperforms many other public algorithms by a large margin. Quantitative experiments on a real robot manipulator demonstrate the high pose estimation accuracy of our method. Finally, the robustness of the proposed approach is demonstrated by successfully completing an assembly task on a real robot platform, achieving an assembly success rate of 80%.

【 授权许可】

Unknown   
Copyright © 2023 Yuan, Ge and Yang.

【 图 表 】

FPHAR_fphar-2023-1219980_wc_tfx17.tif