Technische Universität München Robotics and Embedded Systems

3D Geometry Matching for Grasping



In this work, we present an efficient 3D object recognition and pose estimation approach for grasping procedures in cluttered and occluded environments. In contrast to common appearance-based approaches, we rely solely on 3D geometry information. Our method is based on a robust geometric descriptor, a hashing technique and an efficient, localized RANSAC-like sampling strategy. We assume that each object is represented by a model consisting of a set of points with corresponding surface normals. Our method simultaneously recognizes multiple model instances and estimates their pose in the scene. A variety of tests shows that the proposed method performs well on noisy, cluttered and unsegmented range scans in which only small parts of the objects are visible. The main procedure of the algorithm has a linear time complexity resulting in a high recognition speed which allows a direct integration of the method into a continuous manipulation task. The experimental validation with a 7-degrees-of-freedom Cartesian impedance controlled robot shows how the method can be used for grasping objects from a complex random stack. This application demonstrates how the integration of computer vision and soft-robotics leads to a robotic system capable of acting in unstructured and occluded environments.


The object recognition method is integrated into a robotic system which is used to clean up a table full of grocery items piled on top of each other. First, one cleanup at a normal speed is shown, i.e., without the object recognition time having been cut away. Next, two cleanups are shown at a 20x speed-up.

Several table cleanups are shown at a 20x speed-up.

This video shows the robot reaction to strongly misaligned grasps and misaligned placements of an object using different stiffness values and tip velocities with and without collision detection.

Additional Information

If you have any questions/comments/suggestions do not hesitate to contact Chavdar Papazov. This work was done in cooperation with the Human-Friendly Robotics Team which is part of the Department of Robotic Systems at the German Aerospace Center.

Researchers at the following labs are using our 3D geometry matching software:



This work has been partially funded by the European Commission's Seventh Framework Programme as part of the project GRASP.

Related Publications

[1] Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger, and Darius Burschka. Rigid 3D Geometry Matching for Grasping of Known Objects in Cluttered Scenes. International Journal of Robotics Research, 31, April 2012. [ .bib | .pdf ]
[2] Chavdar Papazov and Darius Burschka. An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes. In Proceedings of the 10th Asian Conference on Computer Vision (ACCV'10), November 2010. (oral presentation; acceptance rate: 5%). [ .bib | .pdf ]