Efficient 3D object detection by fitting superquadrics to range image data for robot's object manipulation

Abstract

Fast detection of objects in a home or office environment is relevant for robotic service and assistance applications. In this work we present the automatic localization of a wide variety of differently shaped objects scanned with a laser range sensor from one view in a cluttered setting. The daily-life objects are modeled using approximated Superquadrics, which can be obtained from showing the object or another modeling process. Detection is based on a hierarchical RANSAC search to obtain fast detection results and the voting of sorted quality-offit criteria. The probabilistic search starts from low resolution and refines hypotheses at increasingly higher resolution levels. Criteria for object shape and the relationship of object parts together with a ranking procedure and a ranked voting process result in a combined ranking of hypothesis using a minimum number of parameters. Experiments from cluttered table top scenes demonstrate the effectiveness and robustness of the approach, feasible for real world object localization and robot grasp planning. © 2007 IEEE.