Point pair feature-based pose estimation with multiple edge appearance models (PPF-MEAM) for robotic bin picking

Diyi Liu, Shogo Arai, Jiaqi Miao, Jun Kinugawa, Zhao Wang, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Automation of the bin picking task with robots entails the key step of pose estimation, which identifies and locates objects so that the robot can pick and manipulate the object in an accurate and reliable way. This paper proposes a novel point pair feature-based descriptor named Boundary-to-Boundary-using-Tangent-Line (B2B-TL) to estimate the pose of industrial parts including some parts whose point clouds lack key details, for example, the point cloud of the ridges of a part. The proposed descriptor utilizes the 3D point cloud data and 2D image data of the scene simultaneously, and the 2D image data could compensate the missing key details of the point cloud. Based on the descriptor B2B-TL, Multiple Edge Appearance Models (MEAM), a method using multiple models to describe the target object, is proposed to increase the recognition rate and reduce the computation time. A novel pipeline of an online computation process is presented to take advantage of B2B-TL and MEAM. Our algorithm is evaluated against synthetic and real scenes and implemented in a bin picking system. The experimental results show that our method is sufficiently accurate for a robot to grasp industrial parts and is fast enough to be used in a real factory environment.

Original languageEnglish
Article number2719
JournalSensors (Switzerland)
Issue number8
Publication statusPublished - 2018 Aug 18


  • Boundary-to-Boundary-using-Tangent-Line (B2B-TL)
  • Multiple Edge AppearanceModels (MEAM)
  • Pose estimation
  • Robotic bin picking

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


Dive into the research topics of 'Point pair feature-based pose estimation with multiple edge appearance models (PPF-MEAM) for robotic bin picking'. Together they form a unique fingerprint.

Cite this