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研究生： 游鈞凱
You, Jiun-Kai
論文名稱： 結合改良式物件姿態估測之最佳機器人夾取策略
Optimal Robotic Grasping Strategy Incorporating Improved Object Pose Estimation
指導教授： 許陳鑑
Hsu, Chen-Chien
學位類別： 碩士
Master
系所名稱： 電機工程學系
Department of Electrical Engineering
論文出版年： 2021
畢業學年度： 109
語文別： 英文
論文頁數： 51
英文關鍵詞： object pose estimation, LINEMOD, Occlusion LINEMOD, grasp strategy
DOI URL： http://doi.org/10.6345/NTNU202100110
論文種類： 學術論文
相關次數： 點閱：90  下載：0 
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    • Chapter 1: Introduction 1 1.1 Background 1 1.2 Problem Statement 3 1.2.1 Object Pose Estimation 3 1.2.2 Grasp Estimation 4 1.3 Objective of the study 5 1.4 Limitation of the study 7 Chapter 2: Literature Review 8 2.1 Related works of Object Pose Estimation 8 2.1.1 Traditional Methods 8 2.1.2 Deep Learning Based Methods with RGB-D Data 9 2.1.3 Deep Learning Based Methods with RGB Data 9 2.2 Related work of Grasp Estimation 10 2.2.1 2D Planar Grasp 11 2.2.2 6DoF Grasp 12 A. Methods Based on Partial Point Cloud 12 (i) Evaluating the Grasp Qualities of Candidate Grasps 12 (ii) Transferring Grasps from Existing Ones 13 B. Methods Based on Complete Shape 13 Chapter 3: Object Pose Estimation and Optimal Grasping Strategy 15 3.1 Object Pose Estimation System 15 3.1.1 Projection Loss Function 16 3.1.2 Total Loss Function with a Dynamic Weight 17 3.1.3 Pose Refinement 18 3.1.4 Refinement Activation Strategy 20 3.2 Optimal Grasping Strategy 23 3.2.1 Select Grasping Area 24 3.2.2 Segment into Clusters 24 3.2.3 Create Grasping Paths 25 3.2.4 Calculate Grasping Score 26 Chapter 4: Experimental Results 29 4.1 Experimental Results on Object Pose Estimation System 29 4.1.1 Experimental Setup 29 4.1.2 Datasets 30 4.1.3 Evaluation Metrics 31 4.1.4 Implementation Details 31 4.1.5 Comparison Results Against the State-of-the-Art 32 4.1.6 Practical Implementation for a Real World Scenario 35 4.2 Experimental Results on Optimal Grasping Strategy 36 4.2.1 Experimental Setup 36 4.2.2 Datasets 37 4.2.3 Evaluation Methods 38 4.2.4 Implementation Details 39 4.2.5 Experimental Results 40 Chapter 5: Conclusions 43 5.1 Summary of Thesis Achievements 43 5.2 Future Works 43 Bibliographies 45 Autobiography 51

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