An Efficient Method for Accurate Pose Estimation and Error Correction of Cuboidal Objects
Abstract
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise pose estimation of cuboid-shaped objects, which aims to reduce errors in target pose in a time-efficient manner. Typical pose estimation methods like global point cloud registrations are prone to minor pose errors for which local registration algorithms are generally used to improve pose accuracy. However, due to the execution time overhead and uncertainty in the error of the final achieved pose, an alternate, linear time approach is proposed for pose error estimation and correction. This paper presents an overview of the solution followed by a detailed description of individual modules of the proposed algorithm.
Cite
@article{arxiv.2505.04962,
title = {An Efficient Method for Accurate Pose Estimation and Error Correction of Cuboidal Objects},
author = {Utsav Rai and Hardik Mehta and Vismay Vakharia and Aditya Choudhary and Amit Parmar and Rolif Lima and Kaushik Das},
journal= {arXiv preprint arXiv:2505.04962},
year = {2025}
}
Comments
Accepted in IEEE/RSJ IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA)