Indoor Target Detection and Pose Estimation Based on Point Cloud

Abstract

The indoor environment faced by service robots is complex, with plenty of objects and mutual occlusion, traditional algorithms cannot detect the target and estimate its pose accurately. We propose a set of target detection and pose estimation algorithm based on point cloud templates to solve the above problems. Through the segmentation and clustering of scenes, the application of the algorithm in complex scenes is realized. Based on the key points to estimate the pose of the target, we achieve the adaptation to mutual occlusion. Besides, we propose an improved RANSAC algorithm, which maintains the accuracy of the original algorithm while greatly improving the speed. Finally, we test the algorithm through the open source model library, simulated and actual scenarios, compared with the SAC-IA algorithm, our algorithm improves the time by 89%, and in the application of complex scenes, the error of the pose estimation is at the millimeter level.