Object detection and pose estimation method by RGB-D camera for robotic grasping
Guohao Tang,
Fanghu Yang,
Xin Hu
et al.
Abstract:In the application of vision-guided robotic grasping, 2D position/orientation and 3D depth information are needed. This paper proposes a method for detecting the 4-DoF grasping of unknown objects, which using the combined RGB image and 3D point clouds data by RGB-D camera. The 3-DoF grasp information is obtained by segmenting the target region from the RGB image. Then the depth is converted into a point cloud image by 3D reconstruction. By using an improved RANSAC to fit point cloud planes of the background an… Show more
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