TY - GEN A1 - Li, Huajian A1 - Kraljevski, Ivan A1 - Meyer, Paul A1 - Tschöpe, Constanze A1 - Wolff, Matthias T1 - YOLO-ICP : deep learning integrated pose estimation for bin-picking of multiple objects T2 - 2024 IEEE SENSORS, Proceedings, Kobe, Japan, 2024 N2 - In this paper, we present a novel deep learning-integrated pipeline called YOLO-ICP that aims to estimate the six degree of freedom (6-DoF) pose of objects using RGB-D sensors and does not require pose labels to train deep learning networks. YOLO-ICP integrates a real-time object detection algorithm with a point cloud registration method to estimate the pose of multiple objects. We evaluated our approach by quantitatively comparing it with baseline models on the OccludedLINEMOD dataset. Experimental results illustrate that our approach outperforms baseline models in challenging scenarios with textureless and occluded objects. In particular, our pipeline shows superior performance when dealing with small and symmetric objects in terms of the ADD(-S) metric. KW - Pose estimation KW - Deep learning KW - CAD KW - Point cloud KW - Bin-picking KW - RGB-D camera Y1 - 2024 SN - 979-8-3503-6351-7 U6 - https://doi.org/10.1109/SENSORS60989.2024.10784539 SP - 1 EP - 4 PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Piscataway, New Jersey ER -