6D Assembly Pose Estimation by Point Cloud Registration for Robot Manipulation.
Kulunu SamarawickramaG. SharmaAlexandre AngleraudRoel PietersPublished in: CoRR (2023)
Keyphrases
- point cloud
- pose estimation
- position and orientation
- computer vision
- mobile robot
- structure from motion
- surface reconstruction
- human body
- degrees of freedom
- point sets
- d objects
- vision system
- laser scanner
- feature points
- pose estimates
- body parts
- stereo camera
- articulated model
- icp algorithm
- depth images
- distance function
- simultaneous localization and mapping
- mobile robotics
- viewpoint