Reconstruction-based 6D pose estimation for robotic assembly.

Pose estimation is important for many robotic applications including bin picking and robotic assembly and collaboration. However, robust and accurate estimation of the poses of industrial objects is a challenging task owing to the various object shapes and complex working environments. This paper presents a method of estimating the poses of narrow and elongated industrial objects with a low-cost RGB-D (depth and color) camera to guide the process of robotic assembly.