Print Email Facebook Twitter Object Pose estimation for automation of repetative tasks in cluttered environments Title Object Pose estimation for automation of repetative tasks in cluttered environments Author Wisboom, Matthijs (TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Software Technology) Contributor Langendoen, K.G. (mentor) Eisma, Y.B. (graduation committee) Bosma, Stijn (graduation committee) Degree granting institution Delft University of Technology Programme Computer Science | Software Technology Date 2023-06-21 Abstract The agricultural industry is undergoing a transformative shift towards efficiency and large-scale production. Manual labor is unable to meet the increasing demand, leading to the development of automation techniques. During production, objects are adjusted and moved along a line to maintain productivity. This work investigates the feasibility of developing a system that detects and determines the position and rotation of a small clipping object in a cluttered environment. To achieve this feasibility, a neural network has been trained on a custom dataset with images containing 6-D pose annotations of a clip that do not require manual annotations. The designed system also executes a validation step with a second set of sensors in the form of a stereo camera. The entire methodology has been evaluated on a test setup. The small and round properties of the clip cause a rotational error that does not fall in positional and rotational requirements set by a mechanical grabber on a robotic arm. Higher positional precision of annotation data and depth information from the stereo camera is necessary to make this methodology feasible. Subject RoboticsAutomationPose estimationAgriculture To reference this document use: http://resolver.tudelft.nl/uuid:5c65de34-619d-4f6f-b18b-acfb01604689 Embargo date 2025-06-21 Part of collection Student theses Document type master thesis Rights © 2023 Matthijs Wisboom Files file embargo until 2025-06-21