Application based 3D sensor evaluation: A case study in 3D object pose estimation for automated unloading of containers

Rasoul Mojtahedzadeh, Todor Stoyanov, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

A fundamental task in the design process of a complex system that requires 3D visual perception is the choice of suitable 3D range sensors. Identifying the utility of 3D range sensors in an industrial application solely based on an evaluation of their distance accuracy and the noise level may lead to an inappropriate selection. To assess the actual effect on the performance of the system as a whole requires a more involved analysis. In this paper, we examine the problem of selecting a set of 3D range sensors when designing autonomous systems for specific industrial applications in a holistic manner. As an instance of this problem we present a case study with an experimental evaluation of the utility of four 3D range sensors for object pose estimation in the process of automation of unloading containers.

Original languageEnglish
Title of host publication2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PublisherIEEE Computer Society
Pages313-318
Number of pages6
ISBN (Print)9781479902637
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain
Duration: 25 Sep 201327 Sep 2013

Publication series

Name2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings

Conference

Conference2013 6th European Conference on Mobile Robots, ECMR 2013
Country/TerritorySpain
CityBarcelona
Period25/09/1327/09/13

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