Precise and efficient pose estimation of stacked objects for mobile manipulation in industrial robotics challenges

摘要

Object manipulation tasks such as picking up, carrying and placing should be executed based on the information of objects which are provided by the perception system. A precise and efficient pose estimation system has been developed to address the requirements and to achieve the objectives for autonomous packaging, specifically picking up of stacked non-rigid objects. For fine pose estimation, a drawing pin shaped kernel and pinhole filtering methods are used on the roughly estimated pose of objects. The system has been applied in a realistic industrial environment as a challenging scenario for the Challenge 2 – Shop Floor Logistics and Manipulation on a mobile manipulator in the context of the European Robotics Challenges (EuRoC) project.