Filtering Organized 3D Point Clouds for Bin Picking Applications
Marek Franaszek,
Prem Rachakonda,
Kamel S. Saidi
Abstract:In robotic bin-picking applications, autonomous robot action is guided by a perception system integrated with the robot. Unfortunately, many perception systems output data contaminated by spurious points that have no correspondence to the real physical objects. Such spurious points in 3D data are the outliers that may spoil obstacle avoidance planning executed by the robot controller and impede the segmentation of individual parts in the bin. Thus, they need to be removed. Many outlier removal procedures have … Show more
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