Locating Transparent Objects to Millimetre Accuracy

03/07/2019
by   Nicholas Adrian, et al.
0

Transparent surfaces, such as glass, transmit most of the visible light that falls on them, making accurate pose estimation challenging. We propose a method to locate glass objects to millimetre accuracy using a simple Laser Range Finder (LRF) attached to the robot end-effector. The method, derived from a physical understanding of laser-glass interactions, consists of (i) sampling points on the glass border by looking at the glass surface from an angle of approximately 45 degrees, and (ii) performing Iterative Closest Point registration on the sampled points. We verify experimentally that the proposed method can locate a transparent, non-planar, side car glass to millimetre accuracy.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

research
07/23/2023

TransNet: Transparent Object Manipulation Through Category-Level Pose Estimation

Transparent objects present multiple distinct challenges to visual perce...
research
08/22/2022

TransNet: Category-Level Transparent Object Pose Estimation

Transparent objects present multiple distinct challenges to visual perce...
research
05/20/2021

Dense Reconstruction of Transparent Objects by Altering Incident Light Paths Through Refraction

This paper addresses the problem of reconstructing the surface shape of ...
research
11/16/2021

Active Vapor-Based Robotic Wiper

This paper presents a method of normal estimation for mirrors and transp...
research
05/09/2018

Full 3D Reconstruction of Transparent Objects

Numerous techniques have been proposed for reconstructing 3D models for ...
research
11/27/2019

Multi-view shape estimation of transparent containers

The 3D localisation of an object and the estimation of its properties, s...
research
08/03/2020

Low-loss connection of weight vectors: distribution-based approaches

Recent research shows that sublevel sets of the loss surfaces of overpar...

Please sign up or login with your details

Forgot password? Click here to reset