3D Reconstruction of End-Effector in Autonomous Positioning Process Using Depth Imaging Device

Figure 5

Images preprocessing.

(a) 30 kinds of cylindrical objects. Note: from left to right, the first-tea box, the first cup, the second cup, the second-tea box, the third cup, the first-pill bottle, glue bottle, tape measure, marker, herborist bottle, the second-pill bottle, the third-tea box, dishwashing liquid bottle, sealant bottle, the fourth cup, the first pop-top, AA battery, the first-reagent bottle, the second-reagent bottle, the third-reagent bottle, the fourth-reagent bottle, the fifth-reagent bottle, the second pop-top, lubricant oil box, the sixth-reagent bottle, screen cleaner bottle, xylitol cans, sauce bottle, the third pop-top, and glasses cleaner plastic bottle

(b) 10 kinds of square objects. Note: from left to right, square tea box, slide caliper box, rhinitis ning granule box, iPhone 6S plus box, drink box, book needle box, toothpaste box, square box, seed wine packaging, and fingerprint box

(c) 10 kinds of spherical objects. Note: from left to right, basketball, walnut, ping-pong ball, shuttlecock (to remove feathers), kumquat, longan, orange, pear, sweet dumplings, and Citrus junos

(d) RGB images and binary segmentation of cylindrical objects from different perspectives

(e) RGB images and binary segmentation of square objects from different perspectives

(f) RGB images and binary segmentation of spherical objects from different perspectives

(g) Edge contour extraction