A new method to estimate the pose of an arbitrary 3D object without prerequisite knowledge: projection-based 3D perception

Recognizing a target object and measuring its pose are important functions of robot vision. Most recognition methods require prerequisite information about the target object to conduct the pose estimation, which limits the usability of the robot vision. To overcome this issue, the authors proposed a new approach to estimate an arbitrary target’s pose using stereo-vision, which was inspired by the parallactic character in human perception. The authors continued the previous research presented in AROB 2020 and expanded the ability of projection-based 3D perception (Pb3DP). Through tracking the trajectory of the target’s motion with a hand–eye robot, it has been confirmed that the Pb3DP method can provide a feasible result in the visual servoing of an unknown target object. In this paper, the authors introduce the methodology of the Pb3DP approach in detail and show the effectiveness of the method through the experimental results of visual servoing in 6 DoF using a stereo-vision hand–eye robot.