Abstract
Recently, cheap 3D sensor such as Kinect is widely used in diverse applications. In this paper, we use Kinect as the 3D sensor for the object manipulation using robot arm. Our target is insert objects on the horizontal table into the corresponding location on the hole in the vertical plate. First, we find two dominant planes corresponding to the horizontal and vertical table by processing 3D points by Kinect. Then, we find each object on the horizontal table using contour processing. Also, object on the vertical plane is processed using the same algorithm. Finally, object matching is done using Hu invariant moments.
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