Matches in SemOpenAlex for { <https://semopenalex.org/work/W2893945778> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W2893945778 abstract "Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable robotic assembly by using 3D CAD models for all parts to be assembled. We focus on a generic assembly task - the Siemens Innovation Challenge - in which a robot needs to assemble a gear-like mechanism with high precision into an operating system. To obtain the millimeter-accuracy required for this task and industrial settings alike, we use a depth camera mounted near the robot end-effector. We present a high-accuracy two-stage pose estimation procedure based on deep convolutional neural networks, which includes detection, pose estimation, refinement, and handling of near- and full symmetries of parts. The networks are trained on simulated depth images with means to ensure successful transfer to the real robot. We obtain an average pose estimation error of 2.16 millimeters and 0.64 degree leading to 91% success rate for robotic assembly of randomly distributed parts. To the best of our knowledge, this is the first time that the Siemens Innovation Challenge is fully addressed, with all the parts assembled with high success rates." @default.
- W2893945778 created "2018-10-05" @default.
- W2893945778 creator A5003236640 @default.
- W2893945778 creator A5051381662 @default.
- W2893945778 creator A5058399271 @default.
- W2893945778 date "2018-09-27" @default.
- W2893945778 modified "2023-09-26" @default.
- W2893945778 title "Learning a High-Precision Robotic Assembly Task Using Pose Estimation from Simulated Depth Images." @default.
- W2893945778 hasPublicationYear "2018" @default.
- W2893945778 type Work @default.
- W2893945778 sameAs 2893945778 @default.
- W2893945778 citedByCount "0" @default.
- W2893945778 crossrefType "posted-content" @default.
- W2893945778 hasAuthorship W2893945778A5003236640 @default.
- W2893945778 hasAuthorship W2893945778A5051381662 @default.
- W2893945778 hasAuthorship W2893945778A5058399271 @default.
- W2893945778 hasConcept C100053769 @default.
- W2893945778 hasConcept C108583219 @default.
- W2893945778 hasConcept C119599485 @default.
- W2893945778 hasConcept C127413603 @default.
- W2893945778 hasConcept C133731056 @default.
- W2893945778 hasConcept C154945302 @default.
- W2893945778 hasConcept C177606310 @default.
- W2893945778 hasConcept C18903297 @default.
- W2893945778 hasConcept C201995342 @default.
- W2893945778 hasConcept C2780451532 @default.
- W2893945778 hasConcept C31972630 @default.
- W2893945778 hasConcept C36613465 @default.
- W2893945778 hasConcept C41008148 @default.
- W2893945778 hasConcept C52102323 @default.
- W2893945778 hasConcept C79403827 @default.
- W2893945778 hasConcept C81363708 @default.
- W2893945778 hasConcept C86803240 @default.
- W2893945778 hasConcept C90509273 @default.
- W2893945778 hasConceptScore W2893945778C100053769 @default.
- W2893945778 hasConceptScore W2893945778C108583219 @default.
- W2893945778 hasConceptScore W2893945778C119599485 @default.
- W2893945778 hasConceptScore W2893945778C127413603 @default.
- W2893945778 hasConceptScore W2893945778C133731056 @default.
- W2893945778 hasConceptScore W2893945778C154945302 @default.
- W2893945778 hasConceptScore W2893945778C177606310 @default.
- W2893945778 hasConceptScore W2893945778C18903297 @default.
- W2893945778 hasConceptScore W2893945778C201995342 @default.
- W2893945778 hasConceptScore W2893945778C2780451532 @default.
- W2893945778 hasConceptScore W2893945778C31972630 @default.
- W2893945778 hasConceptScore W2893945778C36613465 @default.
- W2893945778 hasConceptScore W2893945778C41008148 @default.
- W2893945778 hasConceptScore W2893945778C52102323 @default.
- W2893945778 hasConceptScore W2893945778C79403827 @default.
- W2893945778 hasConceptScore W2893945778C81363708 @default.
- W2893945778 hasConceptScore W2893945778C86803240 @default.
- W2893945778 hasConceptScore W2893945778C90509273 @default.
- W2893945778 hasLocation W28939457781 @default.
- W2893945778 hasOpenAccess W2893945778 @default.
- W2893945778 hasPrimaryLocation W28939457781 @default.
- W2893945778 hasRelatedWork W1844738750 @default.
- W2893945778 hasRelatedWork W1968129666 @default.
- W2893945778 hasRelatedWork W2782927292 @default.
- W2893945778 hasRelatedWork W2840842958 @default.
- W2893945778 hasRelatedWork W2910850089 @default.
- W2893945778 hasRelatedWork W2925251223 @default.
- W2893945778 hasRelatedWork W2934467046 @default.
- W2893945778 hasRelatedWork W2956475343 @default.
- W2893945778 hasRelatedWork W2979889621 @default.
- W2893945778 hasRelatedWork W3017086313 @default.
- W2893945778 hasRelatedWork W3081135500 @default.
- W2893945778 hasRelatedWork W3109529544 @default.
- W2893945778 hasRelatedWork W3117970514 @default.
- W2893945778 hasRelatedWork W3173409700 @default.
- W2893945778 hasRelatedWork W3176676062 @default.
- W2893945778 hasRelatedWork W3196878621 @default.
- W2893945778 hasRelatedWork W3197309189 @default.
- W2893945778 hasRelatedWork W3197917186 @default.
- W2893945778 hasRelatedWork W3202163004 @default.
- W2893945778 hasRelatedWork W3204776918 @default.
- W2893945778 isParatext "false" @default.
- W2893945778 isRetracted "false" @default.
- W2893945778 magId "2893945778" @default.
- W2893945778 workType "article" @default.