Evaluation of the use of box size priors for 6D plane segment tracking from point clouds with applications in cargo packing
Guillermo A. Camacho-Muñoz,
Sandra Esperanza Nope Rodríguez,
Humberto Loaiza-Correa
et al.
Abstract:This paper addresses the problem of 6D pose tracking of plane segments from point clouds acquired from a mobile camera. This is motivated by manual packing operations, where an opportunity exists to enhance performance, aiding operators with instructions based on augmented reality. The approach uses as input point clouds, by its advantages for extracting geometric information relevant to estimating the 6D pose of rigid objects. The proposed algorithm begins with a RANSAC fitting stage on the raw point cloud. I… Show more
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