3D Article Posture Identification Using Main Component Analysis
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Solution Overview
Problem
Existing article pickup systems require pre-prepared model patterns for each type of article and use large-scale configurations, such as stereoscopic photography, making them time-consuming and inefficient for recognizing and picking up articles randomly piled in a three-dimensional space.
Innovation Solution
A system utilizing a three-dimensional measurement instrument to acquire position information of articles, determining connected sets of nearby points, and applying main component analysis to identify article postures, allowing a robot to move its hand to the correct position and posture for pickup without pre-defined models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If model patterns are pre-prepared for each article type, then recognition accuracy is improved, but preparation time and effort increase
Solution Approach 1:
The system performs self-service by automatically generating model patterns from captured images of articles during operation. The pattern generation unit creates patterns based on actual article images, eliminating the need for manual pre-preparation of models for each article type while maintaining recognition accuracy.
2Measurement precision
If stereoscopic photography is used to calculate three-dimensional posture, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system extracts only the necessary information from a single captured image to determine three-dimensional posture. By using the captured image directly without requiring stereoscopic photography, the system extracts the minimal needed data (article position, posture, and shape) while eliminating the complexity of multiple cameras and triangulation calculations.
3Speed
If pattern matching is applied to two-dimensional images, then processing speed is improved, but measurement precision of three-dimensional position deteriorates
Solution Approach 1:
The system transitions from two-dimensional pattern matching to three-dimensional measurement by using the captured image to directly determine three-dimensional position and posture. The pattern matching results are enhanced with depth information to calculate accurate three-dimensional coordinates, combining the speed of pattern matching with the precision of three-dimensional measurement.
Data Source
AI summary
An article pickup apparatus configured so as to measure surface positions of articles randomly piled on the three-dimensional space using a three-dimensional measurement instrument to acquire position information of three-dimensional points, determine a connected set made by connecting three-dimensional points present in the vicinity of each other among the three-dimensional points, and identify a position and posture of an article based on the position information of three-dimensional points belonging to the connected set. The posture of the article is identified by calculating a main component direction of the connected set by applying main component analysis to the three-dimensional points belonging to the connected set and identifying the posture of the article based on the main component direction.