３次元点群とカラー２次元コードを用いた物体の位置・姿勢推定

抄録

The method attaching a color 2D code to an object which it is difficult to find features even by using color and point cloud data with CSHOT descriptor is proposed. If the object composed of simple planes, there are no remarkable characteristic on the SHOT descriptor. Furthermore, there are products that have different characteristic color information even though they are the same product like food packages. The proposed method is powerful tool to find such kind of objects.