Fast Circular Object Localization and Pose Estimation for Robotic Bin Picking View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2018

AUTHORS

Linyao Luo , Yanfei Luo , Hong Lu , Haowei Yuan , Xuehua Tang , Wenqiang Zhang

ABSTRACT

Detecting and localizing objects in three-dimensional space is essential for robotic manipulation. One practical task is known as “bin-picking”, where a robot manipulator picks objects from a bin of parts without any assistance of an operator. For such a task, vision-based object detection and location can be a cost-effective solution. In this paper, we propose a fast and robust approach for picking flanges in a crowd condition. We present a continuous edge detector improved from Canny and a fast ellipse detector based on randomized hough transformation to obtain the outer contours of flange. And then we have implement several picking experiments to verify our proposed approach is fast and robust in practical environment. More... »

PAGES

529-538

References to SciGraph publications

  • 1995-09. Planar object recognition using projective shape representation in INTERNATIONAL JOURNAL OF COMPUTER VISION
  • Book

    TITLE

    Advances in Multimedia Information Processing – PCM 2017

    ISBN

    978-3-319-77382-7
    978-3-319-77383-4

    Author Affiliations

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-319-77383-4_52

    DOI

    http://dx.doi.org/10.1007/978-3-319-77383-4_52

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1103907626


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Artificial Intelligence and Image Processing", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Information and Computing Sciences", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "Fudan University", 
              "id": "https://www.grid.ac/institutes/grid.8547.e", 
              "name": [
                "Fudan University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Luo", 
            "givenName": "Linyao", 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Fudan University", 
              "id": "https://www.grid.ac/institutes/grid.8547.e", 
              "name": [
                "Fudan University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Luo", 
            "givenName": "Yanfei", 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Fudan University", 
              "id": "https://www.grid.ac/institutes/grid.8547.e", 
              "name": [
                "Fudan University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Lu", 
            "givenName": "Hong", 
            "id": "sg:person.013576203375.62", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013576203375.62"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "name": [
                "Shanghai Electric Group CO., LTD. Central Academe"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Yuan", 
            "givenName": "Haowei", 
            "id": "sg:person.016436732072.90", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016436732072.90"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "name": [
                "Shanghai Electric Group CO., LTD. Central Academe"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Tang", 
            "givenName": "Xuehua", 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Fudan University", 
              "id": "https://www.grid.ac/institutes/grid.8547.e", 
              "name": [
                "Fudan University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Zhang", 
            "givenName": "Wenqiang", 
            "id": "sg:person.010531241272.46", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010531241272.46"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "sg:pub.10.1007/bf01428193", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1003741416", 
              "https://doi.org/10.1007/bf01428193"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/bf01428193", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1003741416", 
              "https://doi.org/10.1007/bf01428193"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0262-8856(01)00066-x", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1034406504"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/tpami.1986.4767851", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061742261"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/icra.2011.5979857", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1094362357"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/iros.1996.569005", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095510015"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/robot.2009.5152360", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095706237"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2018", 
        "datePublishedReg": "2018-01-01", 
        "description": "Detecting and localizing objects in three-dimensional space is essential for robotic manipulation. One practical task is known as \u201cbin-picking\u201d, where a robot manipulator picks objects from a bin of parts without any assistance of an operator. For such a task, vision-based object detection and location can be a cost-effective solution. In this paper, we propose a fast and robust approach for picking flanges in a crowd condition. We present a continuous edge detector improved from Canny and a fast ellipse detector based on randomized hough transformation to obtain the outer contours of flange. And then we have implement several picking experiments to verify our proposed approach is fast and robust in practical environment.", 
        "editor": [
          {
            "familyName": "Zeng", 
            "givenName": "Bing", 
            "type": "Person"
          }, 
          {
            "familyName": "Huang", 
            "givenName": "Qingming", 
            "type": "Person"
          }, 
          {
            "familyName": "El Saddik", 
            "givenName": "Abdulmotaleb", 
            "type": "Person"
          }, 
          {
            "familyName": "Li", 
            "givenName": "Hongliang", 
            "type": "Person"
          }, 
          {
            "familyName": "Jiang", 
            "givenName": "Shuqiang", 
            "type": "Person"
          }, 
          {
            "familyName": "Fan", 
            "givenName": "Xiaopeng", 
            "type": "Person"
          }
        ], 
        "genre": "chapter", 
        "id": "sg:pub.10.1007/978-3-319-77383-4_52", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isPartOf": {
          "isbn": [
            "978-3-319-77382-7", 
            "978-3-319-77383-4"
          ], 
          "name": "Advances in Multimedia Information Processing \u2013 PCM 2017", 
          "type": "Book"
        }, 
        "name": "Fast Circular Object Localization and\u00a0Pose Estimation for Robotic Bin Picking", 
        "pagination": "529-538", 
        "productId": [
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1007/978-3-319-77383-4_52"
            ]
          }, 
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "ac8f438e2d6e5ed48299930f2cbcdd72d627b7661cd05e5a2ff5fce4e3858ee2"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1103907626"
            ]
          }
        ], 
        "publisher": {
          "location": "Cham", 
          "name": "Springer International Publishing", 
          "type": "Organisation"
        }, 
        "sameAs": [
          "https://doi.org/10.1007/978-3-319-77383-4_52", 
          "https://app.dimensions.ai/details/publication/pub.1103907626"
        ], 
        "sdDataset": "chapters", 
        "sdDatePublished": "2019-04-15T22:12", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8693_00000383.jsonl", 
        "type": "Chapter", 
        "url": "http://link.springer.com/10.1007/978-3-319-77383-4_52"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-77383-4_52'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-77383-4_52'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-77383-4_52'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-77383-4_52'


     

    This table displays all metadata directly associated to this object as RDF triples.

    145 TRIPLES      23 PREDICATES      33 URIs      20 LITERALS      8 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1007/978-3-319-77383-4_52 schema:about anzsrc-for:08
    2 anzsrc-for:0801
    3 schema:author Na2c7685a02de4e1ba82797b05887cdf4
    4 schema:citation sg:pub.10.1007/bf01428193
    5 https://doi.org/10.1016/s0262-8856(01)00066-x
    6 https://doi.org/10.1109/icra.2011.5979857
    7 https://doi.org/10.1109/iros.1996.569005
    8 https://doi.org/10.1109/robot.2009.5152360
    9 https://doi.org/10.1109/tpami.1986.4767851
    10 schema:datePublished 2018
    11 schema:datePublishedReg 2018-01-01
    12 schema:description Detecting and localizing objects in three-dimensional space is essential for robotic manipulation. One practical task is known as “bin-picking”, where a robot manipulator picks objects from a bin of parts without any assistance of an operator. For such a task, vision-based object detection and location can be a cost-effective solution. In this paper, we propose a fast and robust approach for picking flanges in a crowd condition. We present a continuous edge detector improved from Canny and a fast ellipse detector based on randomized hough transformation to obtain the outer contours of flange. And then we have implement several picking experiments to verify our proposed approach is fast and robust in practical environment.
    13 schema:editor Ne9544a2ab73a4b12bf213674bc600adf
    14 schema:genre chapter
    15 schema:inLanguage en
    16 schema:isAccessibleForFree false
    17 schema:isPartOf N9d704f22294d4c02b1e909e51caaac48
    18 schema:name Fast Circular Object Localization and Pose Estimation for Robotic Bin Picking
    19 schema:pagination 529-538
    20 schema:productId N7617db43f0344b16a237ad8352aacb68
    21 N777727a14d1f4267957119f6c4f73400
    22 Nfe871e5e77064dccaf0c5f1b512c80cd
    23 schema:publisher Ndda2d0fd91104f509c4498a08baa4325
    24 schema:sameAs https://app.dimensions.ai/details/publication/pub.1103907626
    25 https://doi.org/10.1007/978-3-319-77383-4_52
    26 schema:sdDatePublished 2019-04-15T22:12
    27 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    28 schema:sdPublisher Nf9b5dfc7c22a4906976e8dbd1f2ccdae
    29 schema:url http://link.springer.com/10.1007/978-3-319-77383-4_52
    30 sgo:license sg:explorer/license/
    31 sgo:sdDataset chapters
    32 rdf:type schema:Chapter
    33 N0a9c209205b24c5a9beb018d889f034b schema:name Shanghai Electric Group CO., LTD. Central Academe
    34 rdf:type schema:Organization
    35 N1de202dd6929462ab9f9f1db3415c2b5 rdf:first N726a5d48f48f46b9aa7fadaf1891e1ee
    36 rdf:rest N921176fbd216404f9c1a9de9db0857cf
    37 N346a7c1457794759a67ab01bd4f86094 schema:affiliation https://www.grid.ac/institutes/grid.8547.e
    38 schema:familyName Luo
    39 schema:givenName Yanfei
    40 rdf:type schema:Person
    41 N388aed49c45540c99c3ca645bb6ec6fe schema:affiliation N447d281c9fa8401fa89d07f7f8d2c8cb
    42 schema:familyName Tang
    43 schema:givenName Xuehua
    44 rdf:type schema:Person
    45 N40606799806d4f81a0a049b8adbcf63d schema:familyName Jiang
    46 schema:givenName Shuqiang
    47 rdf:type schema:Person
    48 N40b316e100594a4ea963e11578e6f0aa schema:familyName Li
    49 schema:givenName Hongliang
    50 rdf:type schema:Person
    51 N40f63d392dfd4c2986b87881e6f55a48 rdf:first N40b316e100594a4ea963e11578e6f0aa
    52 rdf:rest N979547041e8847cfb3950d4533f421fa
    53 N41e3106a53ff4d69b4167763839e6848 schema:familyName Zeng
    54 schema:givenName Bing
    55 rdf:type schema:Person
    56 N43068d879b19439f8ce683f038a2e3e9 rdf:first sg:person.013576203375.62
    57 rdf:rest Nce0afb1d78e840f28d6b7a84e5c0a43a
    58 N447d281c9fa8401fa89d07f7f8d2c8cb schema:name Shanghai Electric Group CO., LTD. Central Academe
    59 rdf:type schema:Organization
    60 N726a5d48f48f46b9aa7fadaf1891e1ee schema:familyName Huang
    61 schema:givenName Qingming
    62 rdf:type schema:Person
    63 N7617db43f0344b16a237ad8352aacb68 schema:name doi
    64 schema:value 10.1007/978-3-319-77383-4_52
    65 rdf:type schema:PropertyValue
    66 N777727a14d1f4267957119f6c4f73400 schema:name readcube_id
    67 schema:value ac8f438e2d6e5ed48299930f2cbcdd72d627b7661cd05e5a2ff5fce4e3858ee2
    68 rdf:type schema:PropertyValue
    69 N8dd2c18a1de441e0844a6772907a6c96 rdf:first Nee26982359f2492f848efdaa2bf35c57
    70 rdf:rest rdf:nil
    71 N921176fbd216404f9c1a9de9db0857cf rdf:first Na7062b5b62784b008f55c83fbb125da2
    72 rdf:rest N40f63d392dfd4c2986b87881e6f55a48
    73 N979547041e8847cfb3950d4533f421fa rdf:first N40606799806d4f81a0a049b8adbcf63d
    74 rdf:rest N8dd2c18a1de441e0844a6772907a6c96
    75 N9d704f22294d4c02b1e909e51caaac48 schema:isbn 978-3-319-77382-7
    76 978-3-319-77383-4
    77 schema:name Advances in Multimedia Information Processing – PCM 2017
    78 rdf:type schema:Book
    79 Na2c7685a02de4e1ba82797b05887cdf4 rdf:first Ne0328ab9a024460f949f500e500ae33c
    80 rdf:rest Neb64d7494eaa44858a95c062cfd17e72
    81 Na7062b5b62784b008f55c83fbb125da2 schema:familyName El Saddik
    82 schema:givenName Abdulmotaleb
    83 rdf:type schema:Person
    84 Na9326b044c2447f195e1ddc6b74a4fc6 rdf:first sg:person.010531241272.46
    85 rdf:rest rdf:nil
    86 Nce0afb1d78e840f28d6b7a84e5c0a43a rdf:first sg:person.016436732072.90
    87 rdf:rest Ne1ae10d0d06c4c3d88a899964f91da77
    88 Ndda2d0fd91104f509c4498a08baa4325 schema:location Cham
    89 schema:name Springer International Publishing
    90 rdf:type schema:Organisation
    91 Ne0328ab9a024460f949f500e500ae33c schema:affiliation https://www.grid.ac/institutes/grid.8547.e
    92 schema:familyName Luo
    93 schema:givenName Linyao
    94 rdf:type schema:Person
    95 Ne1ae10d0d06c4c3d88a899964f91da77 rdf:first N388aed49c45540c99c3ca645bb6ec6fe
    96 rdf:rest Na9326b044c2447f195e1ddc6b74a4fc6
    97 Ne9544a2ab73a4b12bf213674bc600adf rdf:first N41e3106a53ff4d69b4167763839e6848
    98 rdf:rest N1de202dd6929462ab9f9f1db3415c2b5
    99 Neb64d7494eaa44858a95c062cfd17e72 rdf:first N346a7c1457794759a67ab01bd4f86094
    100 rdf:rest N43068d879b19439f8ce683f038a2e3e9
    101 Nee26982359f2492f848efdaa2bf35c57 schema:familyName Fan
    102 schema:givenName Xiaopeng
    103 rdf:type schema:Person
    104 Nf9b5dfc7c22a4906976e8dbd1f2ccdae schema:name Springer Nature - SN SciGraph project
    105 rdf:type schema:Organization
    106 Nfe871e5e77064dccaf0c5f1b512c80cd schema:name dimensions_id
    107 schema:value pub.1103907626
    108 rdf:type schema:PropertyValue
    109 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
    110 schema:name Information and Computing Sciences
    111 rdf:type schema:DefinedTerm
    112 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
    113 schema:name Artificial Intelligence and Image Processing
    114 rdf:type schema:DefinedTerm
    115 sg:person.010531241272.46 schema:affiliation https://www.grid.ac/institutes/grid.8547.e
    116 schema:familyName Zhang
    117 schema:givenName Wenqiang
    118 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010531241272.46
    119 rdf:type schema:Person
    120 sg:person.013576203375.62 schema:affiliation https://www.grid.ac/institutes/grid.8547.e
    121 schema:familyName Lu
    122 schema:givenName Hong
    123 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013576203375.62
    124 rdf:type schema:Person
    125 sg:person.016436732072.90 schema:affiliation N0a9c209205b24c5a9beb018d889f034b
    126 schema:familyName Yuan
    127 schema:givenName Haowei
    128 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016436732072.90
    129 rdf:type schema:Person
    130 sg:pub.10.1007/bf01428193 schema:sameAs https://app.dimensions.ai/details/publication/pub.1003741416
    131 https://doi.org/10.1007/bf01428193
    132 rdf:type schema:CreativeWork
    133 https://doi.org/10.1016/s0262-8856(01)00066-x schema:sameAs https://app.dimensions.ai/details/publication/pub.1034406504
    134 rdf:type schema:CreativeWork
    135 https://doi.org/10.1109/icra.2011.5979857 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094362357
    136 rdf:type schema:CreativeWork
    137 https://doi.org/10.1109/iros.1996.569005 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095510015
    138 rdf:type schema:CreativeWork
    139 https://doi.org/10.1109/robot.2009.5152360 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095706237
    140 rdf:type schema:CreativeWork
    141 https://doi.org/10.1109/tpami.1986.4767851 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061742261
    142 rdf:type schema:CreativeWork
    143 https://www.grid.ac/institutes/grid.8547.e schema:alternateName Fudan University
    144 schema:name Fudan University
    145 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...