Adaptive Robotics

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Initial Situation

 

 

  • Exact 6D object pose estimation desired for point cloud stitching.
  • Sensor: Mono Camera
  • CAD model available
  • Requirements:
    • Runtime ~1s
    • Accuracy < 1 µ m

 

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Solution

 

  • Precise 6D object pose refinement based on initial pose estimate
  • Deep Learning for initial pose estimation
  • Validation of accuracy
  • Robust against occlusions and clutter

Results

 

  • Faster and more accurate then industry standard (Halcon from MVTEC)
  • Ready to be integrated into several products for quality inspection