Monte Carlo Registration and Its Application with Autonomous Robots

Figure 1

A humanoid robot (a) acquires a depth image of an object scene with a Time-of-Flight camera and registers the model of a power screwdriver ((c), (d), (e)) which allows for grasping the object (b). (c)–(e) depth values are color coded from red (close) to green (far), and the located model is shown in blue (points) and gray (CAD).

(a)

(b)

(c)

(d)

(e)