Recognition and position estimation method for stacked untextured parts

Abstract

To address the challenge of recognizing and estimating the position of untextured stacked parts, which are common in industrial environments, this study proposes an integrated approach that incorporates the YOLOv7 target detection algorithm and point cloud alignment techniques. First, the YOLOv7 algorithm is utilized to quickly identify and locate the 2D position of the part, followed by a mapping technique to transform the 2D region of interest (ROI) into the corresponding 3D point cloud region. In the point cloud processing stage, depth threshold segmentation and Euclidean clustering segmentation methods are used to separate the target part from the background and other interfering objects. The pose estimation stage uses the SAC-IA algorithm for coarse alignment, followed by an improved ICP algorithm that introduces an adaptive weighting mechanism and a global optimization strategy for fine alignment to obtain the final 6D pose of the part. The improved strategy significantly optimizes the point-pair selection and alignment process and enhances the robustness and accuracy of the algorithm. Through experimental validation on publicly available part piece datasets, the results show that the part identification and pose estimation method proposed in this study can realize fast and accurate identification and pose estimation of different shapes, non-textured, and scattered stacked parts, where the position error can reach up to 1mm and the angular error within 1°, which meets the requirements of practical applications.