Textureless Model Assembling Planning Based on a Deep Pose Estimation Network
學年 108
學期 1
發表日期 2019-11-13
作品名稱 Textureless Model Assembling Planning Based on a Deep Pose Estimation Network
作品名稱（其他語言） 基於深度姿態估測網路之無紋理模型拼裝規劃
著者 Wu-Kai Kao; Ching-Chang Wong; Chi-Yi Tsai
作品所屬單位
出版者
會議名稱 Proceedings of 2019 CACS International Automatic Control Conference
會議地點 Keelung, Taiwan
摘要 This thesis proposes a deep pose estimation network applied to the textureless model assembly task, which aims to assemble six textureless models with different shapes into a complete aircraft model. We use ROS as the development environment to integrate the proposed pose estimation network and the control system of the 7-DoF manipulator to perform the assembly task, in which the target objects are randomly placed in the workspace. The proposed pose estimation network firstly extracts image feature maps of the input RGB image through the VGG network, and then performs object detection and attitude estimation through multi-task convolution layers. Since the target models are textureless objects, we found that using the original VGG network to extract feature maps cannot achieve a desired detection rate. Therefore, in order to improve the efficiency of image feature extraction, we modify the existing VGG network to improve the detection rate of textureless objects. In the network training, the supervised training method is used for multi-task training of the proposed network, which can use different loss functions for different tasks to update the weights of different networks, so that the deep convolutional neural network can predict the projection of the 3D bounding box of the training target onto the 2D image plane. With the output of the network model, the existing PnP algorithm can be used to estimate the relative pose information between the camera and the target object, so that the robot can locate the 3D coordinates of the target object and accurately grasp the target object to achieve the task of model assembly.
關鍵字 Pose Estimation;Robot;CNN;Deep Learning;Robot Vision;System integration;Robot Operating System(ROS);Unreal Engine
語言 en
收錄於
會議性質 國際
校內研討會地點 無
研討會時間 20191113~20191116
通訊作者
國別 TWN
公開徵稿
出版型式
出處
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118331 )

SDGS 優質教育,尊嚴就業與經濟發展,產業創新與基礎設施