@article{(Open Science Index):https://publications.waset.org/pdf/10011779,
	  title     = {Deep Learning Based 6D Pose Estimation for Bin-Picking Using 3D Point Clouds},
	  author    = {Hesheng Wang and  Haoyu Wang and  Chungang Zhuang},
	  country	= {},
	  institution	= {},
	  abstract     = {Estimating the 6D pose of objects is a core step for robot bin-picking tasks. The problem is that various objects are usually randomly stacked with heavy occlusion in real applications. In this work, we propose a method to regress 6D poses by predicting three points for each object in the 3D point cloud through deep learning. To solve the ambiguity of symmetric pose, we propose a labeling method to help the network converge better. Based on the predicted pose, an iterative method is employed for pose optimization. In real-world experiments, our method outperforms the classical approach in both precision and recall.
	    journal   = {International Journal of Computer and Information Engineering},
	  volume    = {15},
	  number    = {1},
	  year      = {2021},
	  pages     = {36 - 41},
	  ee        = {https://publications.waset.org/pdf/10011779},
	  url   	= {https://publications.waset.org/vol/169},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 169, 2021},