Academic Journal
PosePP: 6D Pose Estimation of Poultry Pieces in a Cluttered Bin
| العنوان: | PosePP: 6D Pose Estimation of Poultry Pieces in a Cluttered Bin |
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| المؤلفون: | Raja, Rekha, Rincón, David Rapado, Kemp, Frans, Kootstra, Gert, Henten, Eldert Van |
| المصدر: | ICCC 2022 - IEEE 10th Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems, Proceedings ; ISBN: 9781665481786 |
| بيانات النشر: | IEEE |
| سنة النشر: | 2022 |
| المجموعة: | Wageningen UR (University & Research Centre): Digital Library |
| مصطلحات موضوعية: | Life Science |
| الوصف: | Pose estimation of deformable natural food products is challenging due to the large variation in shape and sizes among objects. This is especially true for bin picking, which additionally involves clutter and occlusion. This paper proposes a novel modular algorithm for 6D pose estimation of chicken legs in a cluttered bin picking scenario using an RGB and depth (RGB-D) image. We use a Mask R-CNN implementation for the instance segmentation of objects, that produces region-of-interest (ROI) proposals and simultaneously predicts intermediate mask representations of the objects. The proposed 6D pose estimation algorithm uses principal component analysis (PCA) utilizing the output mask from Mask R-CNN and the depth image of the objects. The algorithm can detect and classify fully visible pieces with a mAP@0.5-0.95 of 0.93. The average error of position of the chicken legs was measured at 3 mm and the rotation error of chicken legs was estimated with an error of 1. 33 ± 1.31 degrees. Overall, the algorithm could correctly estimate principal axes for 89% of the cases. Experimentally, we show that the proposed algorithm can detect and estimate the pose of the chicken legs. |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | application/pdf |
| اللغة: | English |
| ردمك: | 978-1-66548-178-6 1-66548-178-1 |
| Relation: | https://edepot.wur.nl/581982 |
| DOI: | 10.1109/ICCC202255925.2022.9922692 |
| الاتاحة: | https://research.wur.nl/en/publications/posepp-6d-pose-estimation-of-poultry-pieces-in-a-cluttered-bin https://doi.org/10.1109/ICCC202255925.2022.9922692 |
| Rights: | Wageningen University & Research |
| رقم الانضمام: | edsbas.D481D0C0 |
| قاعدة البيانات: | BASE |
| ردمك: | 9781665481786 1665481781 |
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| DOI: | 10.1109/ICCC202255925.2022.9922692 |