An Efficient Method for Accurate Pose Estimation and Error Correction of Cuboidal Objects

TL;DR

This paper introduces a fast, linear-time method for accurate pose estimation and error correction of cuboidal objects, enhancing autonomous robotic picking with high precision and efficiency.

Contribution

It proposes a novel linear-time approach for pose error estimation and correction, improving accuracy over traditional methods in robotic object manipulation.

Findings

Reduces pose estimation errors significantly

Operates in linear time for real-time applications

Enhances precision in autonomous object picking

Abstract

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise pose estimation of cuboid-shaped objects, which aims to reduce errors in target pose in a time-efficient manner. Typical pose estimation methods like global point cloud registrations are prone to minor pose errors for which local registration algorithms are generally used to improve pose accuracy. However, due to the execution time overhead and uncertainty in the error of the final achieved pose, an alternate, linear time approach is proposed for pose error estimation and correction. This paper presents an overview of the solution followed by a detailed description of individual modules of the proposed algorithm.