Pose Estimation of Round-Shape Workpieces Based on Genetic Algorithm

Gui Chao Lin; Xiang Jun Zou; Meng Si Zhu; Ke Yin Chen; Zhuang Xu Ke

doi:10.4028/www.scientific.net/KEM.579-580.665

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 579-580Pose Estimation of Round-Shape Workpieces Based on...

Pose Estimation of Round-Shape Workpieces Based on Genetic Algorithm

Abstract:

Since traditional pose estimation methods with the features of points, lines and so on might not be applied directly to round-shape workpieces, a new pose estimation method for round-shape workpieces genetic algorithm based was proposed. Compared with previous studies, this method needs no auxiliary information, such as points, lines, concentric circles and so on. Firstly, transformation model of perspective projection of round-shape workpiece was created, and the round-shape workpiece was characterized by analytic equation. Secondly, via detecting the contour and extracting its feature of workpiece, a feature error function was established with respect to the pose angles, which was a multi-objective nonlinear function. Finally, the error function was solved by an improved genetic algorithm and the pose estimation of round-shape workpiece was achieved. The result of related experiments showed that the method had high accuracy, and to some extent inhibited the effects of noise.

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Key Engineering Materials (Volumes 579-580)

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665-669

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.579-580.665

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Online since:

September 2013

Authors:

Gui Chao Lin, Xiang Jun Zou, Meng Si Zhu, Ke Yin Chen, Zhuang Xu Ke

Keywords:

Ellipse Fitting, Genetic Algorithm (GA), Perspective Projection, Pose Estimation

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