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Efficient 3D Object Detection by Fitting Superquadrics to Range Image Data for Robot's Object Manipulation

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2 Author(s)
Biegelbauer, G. ; Autom. & Control Inst., Vienna Univ. of Technol. ; Vincze, M.

Fast detection of objects in a home or office environment is relevant for robotic service and assistance applications. In this work we present the automatic localization of a wide variety of differently shaped objects scanned with a laser range sensor from one view in a cluttered setting. The daily-life objects are modeled using approximated superquadrics, which can be obtained from showing the object or another modeling process. Detection is based on a hierarchical RANSAC search to obtain fast detection results and the voting of sorted quality-of-fit criteria. The probabilistic search starts from low resolution and refines hypotheses at increasingly higher resolution levels. Criteria for object shape and the relationship of object parts together with a ranking procedure and a ranked voting process result in a combined ranking of hypothesis using a minimum number of parameters. Experiments from cluttered table top scenes demonstrate the effectiveness and robustness of the approach, feasible for real world object localization and robot grasp planning.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007