@article{79833e2086db41fd8441ea646a07c2f4,
title = "Object pose estimation based on stereo vision with improved K-D tree ICP algorithm",
abstract = "With the wide application of stereovision in SLAM, object pose estimation has gradually become one of the research hotspots. This article proposes an object pose estimation for robotic grasping based on stereo vision with improved K-D tree ICP algorithm. The feature points and feature descriptors of the point cloud of the object to be captured are extracted, and the feature template set is established. The SAC-IA algorithm is used to carry out initial registration of the point cloud of the target, and the ICP algorithm based on K-D tree is used for fine registration. The experimental results show that the average coincidence degree of the final registration of the proposed object pose estimation method reaches 94.1%, and the accurate 6D pose of the object to be grasped is obtained.",
keywords = "ICP algorithm, K-D tree, point cloud, pose estimation, SAC-IA algorithm, stereo vision",
author = "Li Huang and Cheng Wang and Juntong Yun and Bo Tao and Jinxian Qi and Ying Liu and Hongjie Ma and Hui Yu",
note = "Funding Information: China Scholarship Council for Visiting Scholars, Grant/Award Number: 201908420379; National Natural Science Foundation of China, Grant/Award Numbers: 52075530, 51575407, 51505349, 61733011, 41906177; Grants of Hubei Provincial Department of Education Grant/Award Number: D20191105; Grants of National Defense PreResearch Foundation of Wuhan University of Science and Technology, Grant/Award Number: GF201705; Open Fund of the Key Laboratory for Metallurgical Equipment and Control of Ministry of Education in Wuhan University of Science and Technology, Grant/Award Number: 2019B13, 2018B07; Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in Three Gorges University, Grant/Award Number: 2020KJX02 Funding Information: This work is supported by grants of the National Natural Science Foundation of China (Grant Nos. 52075530, 51575407, 51505349, 61733011, 41906177); the China Scholarship Council for Visiting Scholars (No. 201908420379); the Grants of Hubei Provincial Department of Education (D20191105); the Grants of National Defense PreResearch Foundation of Wuhan University of Science and Technology (GF201705); Open Fund of the Key Laboratory for Metallurgical Equipment and Control of Ministry of Education in Wuhan University of Science and Technology (2018B07, 2019B13); and Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in Three Gorges University (2020KJX02). Publisher Copyright: {\textcopyright} 2023 John Wiley & Sons, Ltd.",
year = "2023",
month = apr,
day = "17",
doi = "10.1002/cpe.7714",
language = "English",
pages = "1--16",
journal = "Concurrency and Computation: Practice and Experience",
issn = "1532-0626",
publisher = "John Wiley and Sons Ltd",
}