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Title: Pose Estimation Using April Tags for the Picking Problem
Authors: Walker, Ed
Advisors: Xiao, Jianxiong
Department: Computer Science
Class Year: 2016
Abstract: This paper introduces a new method of pose estimation for the picking and stowing problems. The approach uses April tags to estimate an item’s pose from a single image. In testing, the approach has a root mean square error of 4.5 mm against a SIFT and RANSAC method on non-deformable items used in the 2015 Amazon Picking Challenge. This method could be valuable for stocking warehouse shelves and for other applications. 2
Extent: 39 pages
Type of Material: Princeton University Senior Theses
Language: en_US
Appears in Collections:Computer Science, 1988-2017

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