Abstract:Shell parts which have similar and close inner and outer surfaces are common in industrial manufacturing applications. In view of the 6D pose error compensation of parts in high-precision robotic assembly tasks, this work proposes a fast 6D pose estimation approach tailored for shell parts. With a binocular structured light camera, the proposed approach consists of two phases, namely initial pose estimation phase and local pose estimation phase. In the former one, an initial pose correction and translation off… Show more
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