TY - JOUR
T1 - 6D0F pose estimation for similar objects using spatial relationship of part-affordance
AU - Akizuki, Shuichi
AU - Aoki, Yoshimitsu
PY - 2019/1/1
Y1 - 2019/1/1
N2 - In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially Kitchen or DIY tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.
AB - In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially Kitchen or DIY tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.
KW - 3D object recognition
KW - Affordance
KW - Point cloud processing
KW - Pose estimation
UR - http://www.scopus.com/inward/record.url?scp=85064534297&partnerID=8YFLogxK
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U2 - 10.2493/jjspe.85.107
DO - 10.2493/jjspe.85.107
M3 - Article
AN - SCOPUS:85064534297
SN - 0912-0289
VL - 85
SP - 107
EP - 112
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
IS - 1
ER -