6DOF pose estimation of objects for robotic manipulation. A review of different options

6DOF pose estimation of objects in robotics is nowadays an active field of research under different approaches. The solution of this problem depends directly on many aspects, such as the geometry of the object to be located, the flexibility of the solution needed, or the 3D sensors used. Reaching a robust and reliable solution to this problem is essential, being this the first step in present research in industrial robotics, where advanced manipulation and identification of complex objects is fundamental. This paper presents different results obtained solving the 6DOF pose estimation problem, using different software libraries and the Microsoft Kinect as 3D acquisition system to capture the scene.

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