Object pose estimation in bin-picking task is an important problem in the industry. Since objects shapes are very different, there not exists a general method now to deal with all kinds of objects. Here we use convex hulls of the planes of the objects to do object 3D pose estimation. This method ignores details of objects shapes, and is robust in matching. Our method is applicable for all the objects with planes. The experiments show that our method is efficiency and fast, and is applicable in real-time bin-picking task.
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