Pose estimation of primitive-shaped objects from a depth image using superquadric representation

Ryo Hachiuma, Hideo Saito

研究成果: Article査読

2 被引用数 (Scopus)


This paper presents a method for estimating the six Degrees of Freedom (6DoF) pose of texture-less primitive-shaped objects from depth images. As the conventional methods for object pose estimation require rich texture or geometric features to the target objects, these methods are not suitable for texture-less and geometrically simple shaped objects. In order to estimate the pose of the primitive-shaped object, the parameters that represent primitive shapes are estimated. However, these methods explicitly limit the number of types of primitive shapes that can be estimated. We employ superquadrics as a primitive shape representation that can represent various types of primitive shapes with only a few parameters. In order to estimate the superquadric parameters of primitive-shaped objects, the point cloud of the object must be segmented from a depth image. It is known that the parameter estimation is sensitive to outliers, which are caused by the miss-segmentation of the depth image. Therefore, we propose a novel estimation method for superquadric parameters that are robust to outliers. In the experiment, we constructed a dataset in which the person grasps and moves the primitive-shaped objects. The experimental results show that our estimation method outperformed three conventional methods and the baseline method.

ジャーナルApplied Sciences (Switzerland)
出版ステータスPublished - 2020 8月

ASJC Scopus subject areas

  • 材料科学(全般)
  • 器械工学
  • 工学(全般)
  • プロセス化学およびプロセス工学
  • コンピュータ サイエンスの応用
  • 流体および伝熱


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