74 citations · 189 across the 7 of their papers we have counts for
7 papers
Off-the-shelf bin picking workcell with visual pose estimation: A case study on the world robot summit 2018 kitting task
Frederik Hagelskjær, Kasper Høj Lorenzen, Dirk Kraft
The World Robot Summit 2018 Assembly Challenge included four different tasks. The kitting task, which required bin-picking, was the task in which the fewest points were obtained. H…
In-Hand Pose Estimation and Pin Inspection for Insertion of Through-Hole Components
Frederik Hagelskjaer, Dirk Kraft
The insertion of through-hole components is a difficult task. As the tolerances of the holes are very small, minor errors in the insertion will result in failures. These failures c…
BOP: Benchmark for 6D Object Pose Estimation
Tomas Hodan, Frank Michel, Eric Brachmann +13
We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the obj…
Rotational Subgroup Voting and Pose Clustering for Robust 3D Object Recognition
Anders Glent Buch, Lilita Kiforenko, Dirk Kraft
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at…
Pose Estimation using Local Structure-Specific Shape and Appearance Context
Anders Glent Buch, Dirk Kraft, Joni-Kristian Kamarainen +2
We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image…
Towards Declarative Safety Rules for Perception Specification Architectures
Johann Thor Mogensen Ingibergsson, Ulrik Pagh Schultz, Dirk Kraft
Agriculture has a high number of fatalities compared to other blue collar fields, additionally population decreasing in rural areas is resulting in decreased work force. These issu…
Towards Error Handling in a DSL for Robot Assembly Tasks
Johan S. Laursen, Jacob P. Buch, Lars C. Sørensen +3
This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that a…