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Supachai Vongbunyong. A 3D camera protocol for object pose estimation from point cloud in robot operations. (). King Mongkut's University of Technology North Bangkok. Central Library. : , 2024.
A 3D camera protocol for object pose estimation from point cloud in robot operations
Name: Chiwin Charngtong
Organization :
King Mongkut's University of Technology Thonburi. Institute of Field Robotics
Email :
chiwin.plug@mail.kmutt.ac.th
Name: Arbtip Dheeravongkit
Organization :
King Mongkut's University of Technology Thonburi. Institute of Field Robotics
Email :
arbtip.dhe@mail.kmutt.ac.th
Name: Supachai Vongbunyong
Organization :
King Mongkut's University of Technology Thonburi. Institute of Field Robotics
Email :
supachai.von@kmutt.ac.th
keyword:
Object recognition
LCSH:
Computer vision
LCSH:
Robots
-- Control systems
LCSH:
Image processing
-- Digital techniques
Abstract:
The utilization of industrial robots and cameras
in industrial manufacturing has become widespread. However,
the high cost of industrial 3D cameras, in particular, poses a
significant challenge in the selection process. The advancements
in RGB-D camera technology, which is significantly involved
in the development of robotics and more affordable than
industrial 3D cameras, are noteworthy. In this research, the
Intel Realsense L515 RGB-D camera and the NVIDIA Jetson
Xavier NX single board computer were selected for the
implementation of an object pose estimation application. The
object segmentation algorithm, YOLOv7, was proposed for
object detection, which enables the calculation of the X, Y, and
Z position of the object. Subsequently, a master and object
segmentation point cloud was generated, and a point cloud
preprocessing and registration methodology was proposed to
determine the Rx, Ry, and Rz angles of the object, utilizing the
Open3D library. In addition, an industrial robot interfacing via
TCP/IP and serial communication to enable the transformation
of the object pose into the robot pose for subsequent
transmission is proposed. A web-based application was
developed using the Django framework to facilitate RGB-D
camera monitoring and parameter setting. The experiments
were conducted using a three-way tube with a diameter of 25.4
mm. as the object, resulting in the RMS error in X, Y, Z, Rx, Ry,
and Rz are 5.3, 4.3, 4.3 mm., 2.2, 1.4, 2.5 degrees respectively.
The maximum error in X, Y, Z, Rx, Ry, and Rz are 15.7, 13.6, 6.5
mm., 4.9, 3.5, 7 degrees respectively
King Mongkut's University of Technology North Bangkok. Central Library
Address:
BANGKOK
Email:
library@kmutnb.ac.th
Created:
2024
Modified:
2025-05-21
Issued:
2025-05-21
บทความ/Article
application/pdf
BibliograpyCitation :
In IEEE Thailand Section (IEEE Computer Society Thailand Chapter) and Prince of Songkla University. College of Computing. The 21st International Joint Conference on Computer Science and Software Engineering (JCSSE 2024)) (pp.9-15). Phuket : Prince of Songkla University
eng
©copyrights King Mongkut's University of Technology North Bangkok
RightsAccess:
ใช้เวลา
0.040094 วินาที
Chiwin Charngtong
| Title | Contributor | Type |
|---|---|---|
| 3d camera protocol for object pose estimation in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article | |
| A 3D camera protocol for object pose estimation from point cloud in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article |
Arbtip Dheeravongkit
| Title | Contributor | Type |
|---|---|---|
| 3d camera protocol for object pose estimation in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article | |
| A 3D camera protocol for object pose estimation from point cloud in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article |
Supachai Vongbunyong
| Title | Contributor | Type |
|---|---|---|
| Development of autonomous mobile service robot as a reception in department stores
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Supachai Vongbunyong;Tanakorn Teerabundit;Natkamon Khantee;Kitti Thamrongaphichartkul | บทความ/Article | |
| Development of an automatic Foi Thong rolling machine
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| 3d camera protocol for object pose estimation in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article | |
| A 3D camera protocol for object pose estimation from point cloud in robot operations
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Chiwin Charngtong;Arbtip Dheeravongkit;Supachai Vongbunyong | บทความ/Article | |
| Obstacle risk assessment for unmanned surface vehicle using camera and LiDAR
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Jarunyawat Buasri;Kitti Thamrongaphichartkul;Supachai Vongbunyong;Weerawut Charubhun;Varunyou Buddhachan | บทความ/Article |