6D Pose Estimation of Industrial Parts Based on Point Cloud Geometric Information Prediction for Robotic Grasping.

In industrial robotic arm gripping operations within disordered environments, the loss of physical information on the object's surface is often caused by changes such as varying lighting conditions, weak surface textures, and sensor noise. This leads to inaccurate object detection and pose estimation information. A method for industrial object pose estimation using point cloud data is proposed to improve pose estimation accuracy.