精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
ISSN-L : 0912-0289
論文
機能属性の空間配置に着目した類似形状物体の6自由度姿勢推定
秋月 秀一青木 義満
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ジャーナル フリー

2019 年 85 巻 1 号 p. 107-112

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抄録

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.

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© 2019 公益社団法人 精密工学会
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