Skip navigation
Please use this identifier to cite or link to this item: http://arks.princeton.edu/ark:/88435/dsp016682x639k
Title: Pose Estimation Using April Tags for the Picking Problem
Authors: Walker, Ed
Advisors: Xiao, Jianxiong
Department: Computer Science
Class Year: 2016
Abstract: This paper introduces a new method of pose estimation for the picking and stowing problems. The approach uses April tags to estimate an item’s pose from a single image. In testing, the approach has a root mean square error of 4.5 mm against a SIFT and RANSAC method on non-deformable items used in the 2015 Amazon Picking Challenge. This method could be valuable for stocking warehouse shelves and for other applications. 2
Extent: 39 pages
URI: http://arks.princeton.edu/ark:/88435/dsp016682x639k
Type of Material: Princeton University Senior Theses
Language: en_US
Appears in Collections:Computer Science, 1987-2023

Files in This Item:
File SizeFormat 
Walker_ed_2016_Thesis.pdf1.55 MBAdobe PDF    Request a copy


Items in Dataspace are protected by copyright, with all rights reserved, unless otherwise indicated.