A Machine Learning and Point Cloud Processing based Approach for Object Detection and Pose Estimation: Design, Implementation, and Validation

This thesis presents an automatic forklift approach for lifting and handling pallets. The project more specifically develops a solution for autonomous object detection and pose es- timation by Machine Learning (ML), point cloud processing, and arithmetic calculations. The project is based on a real-life scenario identified together with the industrial partner Red Rock, which includes a forklift operation, where the machine is supposed to identify, lift, and handle pallets autonomously. A key to achieving this automation is to localize and classify the pallet as well as to estimate the Six Dimensional (6D) pose of the pallet, which include its (x, y, z) position and (pitch, roll, yaw) orient…