@article{ART003132651},
author={Yang-Su Jang and JANG, KYUNGBAE},
title={A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision},
journal={Journal of Internet of Things and Convergence},
issn={2466-0078},
year={2024},
volume={10},
number={5},
pages={19-26}
TY - JOUR
AU - Yang-Su Jang
AU - JANG, KYUNGBAE
TI - A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision
JO - Journal of Internet of Things and Convergence
PY - 2024
VL - 10
IS - 5
PB - The Korea Internet of Things Society
SP - 19
EP - 26
SN - 2466-0078
AB - This study presents and verifies an easy, fast, and relatively cost-effective method for 6D pose estimation using industrial robots for bin picking in the manufacturing sector. Specifically, it details a method involving the integration of industrial robots with 2D cameras to ① acquire multi-view images of objects and collect training data, ② select variables from the collected data and implement a linear regression model, and ③ apply the trained model to estimate, verify, and evaluate the 6D pose of objects on industrial robots. The proposed data collection method and implemented linear regression model demonstrated statistically significant results. The estimated 6D poses were validated against ground true values and evaluated in their application to industrial robots, confirming their validity. By using feature point information extracted from images instead of direct image inputs as inputs to the regression model, the data size was reduced, enabling direct embedding on the robot. This research approaches the problem of spatial coordinates in 3D from a data analysis perspective, rather than from geometrical or computer vision perspectives.
KW - 6D pose estimation;2D vision;industrial robot;linear regression;bin picking
DO -
UR -
ER -
Yang-Su Jang and JANG, KYUNGBAE. (2024). A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision. Journal of Internet of Things and Convergence, 10(5), 19-26.
Yang-Su Jang and JANG, KYUNGBAE. 2024, "A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision", Journal of Internet of Things and Convergence, vol.10, no.5 pp.19-26.
Yang-Su Jang, JANG, KYUNGBAE "A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision" Journal of Internet of Things and Convergence 10.5 pp.19-26 (2024) : 19.
Yang-Su Jang, JANG, KYUNGBAE. A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision. 2024; 10(5), 19-26.
Yang-Su Jang and JANG, KYUNGBAE. "A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision" Journal of Internet of Things and Convergence 10, no.5 (2024) : 19-26.
Yang-Su Jang; JANG, KYUNGBAE. A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision. Journal of Internet of Things and Convergence, 10(5), 19-26.
Yang-Su Jang; JANG, KYUNGBAE. A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision. Journal of Internet of Things and Convergence. 2024; 10(5) 19-26.
Yang-Su Jang, JANG, KYUNGBAE. A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision. 2024; 10(5), 19-26.
Yang-Su Jang and JANG, KYUNGBAE. "A Study on 6D Pose Estimation Method Using Industrial Robot and 2D Vision" Journal of Internet of Things and Convergence 10, no.5 (2024) : 19-26.
