Object Picking Motion by Humanoid Robot based on Object Position and Rotation Tracking

In order to enable humanoids to pick a unstable object, it is necessary to track the position and pose of the object in real time by the image and point cloud from camera.But the conventional methods to track objects by using 3D Optical flow are able to track only the position of objects moving by translational motion.In this paper, we propose the real time object position and pose tracking method using segmentation of point cloud in addtion to using 3D optical flow. We applied this method to control the picking motion of humanoid robot and realize picking unstable objects.