点群深層学習による位置姿勢推定のためのシミュレータの開発

抄録

3D object detection and pose estimation are an essential task for the bin-picking robot. We try to apply to solve 3D pose estimation task by using the pointcloud deep learning, which techniques are developing rapidly in computer vision. In this paper, we updated our 3D bin scene generation program we had developed for generating pointcloud deep learning dataset. We also propose a straightforward method which applies PointNet to estimate the 3D pose of a single object in the scene.