物理シミュレーションと透視投影カメラモデルを用いたバラ積みシーン点群生成プログラムの開発

抄録

Bin picking is an important task in industrial applications of robots. To achieve the bin picking task, approaches using 3D pointcloud have been taken. For bin picking, it is necessary to recognize picking targets from the scene pointcloud and to estimate the position and the orientation of each target. We developed a program for generating pointcloud of bin scene. This program can be used for development and verification of position and orientation estimation algorithm. By using physical simulation and simulation of stereo vision system using perspective projection model, we have achieved generating 3D pointclouds similar to that obtained by actual 3D sensors.