论文标题
蘑菇检测，本地化和3D姿势估计使用RGB-D传感器用于机器人选择应用
Mushrooms Detection, Localization and 3D Pose Estimation using RGB-D Sensor for Robotic-picking Applications
论文作者
论文摘要
在本文中，我们建议使用从低成本消费者RGB-D传感器中获取的RGB-D数据进行蘑菇检测，定位和3D姿势估计算法。我们将RGB和深度信息用于不同的目的。从RGB颜色中，我们首先提取蘑菇的初始轮廓位置，然后在蘑菇分段的主动轮廓上提供初始轮廓位置和原始图像。然后，这些分段的蘑菇用作每个蘑菇检测的圆形霍夫变换的输入，包括其中心和半径。一旦知道每个蘑菇在RGB图像中的中心位置，我们就会使用深度信息将其定位在3D空间中，即在世界坐标系中。如果每个蘑菇的检测到的中心缺少深度信息，我们从每个蘑菇半径内的最近可用深度信息估计。我们还使用预先准备的直立蘑菇模型估算了每个蘑菇的3D姿势。我们使用全球注册，然后使用本地精炼的注册方法进行此3D姿势估计。从估计的3D姿势中，我们仅使用四季度表达的旋转部分作为每个蘑菇的方向。这些估计的（X，Y，Z）位置，蘑菇的直径和方向用于机器人采摘应用。我们对3D打印和真实蘑菇进行了广泛的实验，这表明我们的方法具有有趣的性能。
In this paper, we propose mushrooms detection, localization and 3D pose estimation algorithm using RGB-D data acquired from a low-cost consumer RGB-D sensor. We use the RGB and depth information for different purposes. From RGB color, we first extract initial contour locations of the mushrooms and then provide both the initial contour locations and the original image to active contour for mushrooms segmentation. These segmented mushrooms are then used as input to a circular Hough transform for each mushroom detection including its center and radius. Once each mushroom's center position in the RGB image is known, we then use the depth information to locate it in 3D space i.e. in world coordinate system. In case of missing depth information at the detected center of each mushroom, we estimate from the nearest available depth information within the radius of each mushroom. We also estimate the 3D pose of each mushroom using a pre-prepared upright mushroom model. We use a global registration followed by local refine registration approach for this 3D pose estimation. From the estimated 3D pose, we use only the rotation part expressed in quaternion as an orientation of each mushroom. These estimated (X,Y,Z) positions, diameters and orientations of the mushrooms are used for robotic-picking applications. We carry out extensive experiments on both 3D printed and real mushrooms which show that our method has an interesting performance.
