Stereo Vision Based Single-Shot 6D Object Pose Estimation for Bin-Picking by a Robot Manipulator

摘要

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional neural network model regresses to object locations and rotations from either a left image or a right image without depth information. Then, a stereo feature matching module, designated as Stereo Grid Attention, generates stereo grid matching maps. The important point of our method is only to calculate disparity of the objects found by the attention from stereo images, instead of calculating a point cloud over the entire image. The disparity value is then used to calculate the depth to the objects by the principle of triangulation. Our method also achieves a rapid processing speed of pose estimation by the single-shot architecture and it is possible to process a 1024 x 1024 pixels image in 75 milliseconds on the Jetson AGX Xavier implemented with half-float model. Weakly textured mechanical parts are used to exemplify the method. First, we create original synthetic datasets for training and evaluating of the proposed model. This dataset is created by capturing and rendering numerous 3D models of several types of mechanical parts in virtual space. Finally, we use a robotic manipulator with an electromagnetic gripper to pick up the mechanical parts in a cluttered state to verify the validity of our method in an actual scene. When a raw stereo image is used by the proposed method from our stereo camera to detect black steel screws, stainless screws, and DC motor parts, i.e., cases, rotor cores and commutator caps, the bin-picking tasks are successful with 76.3%, 64.0%, 50.5%, 89.1% and 64.2% probability, respectively.