Object Pose Estimation via Curvature-based ICP for Goal-Oriented Robot Manipulation

Perception is critical for a robot to accomplish localization and manipulation tasks successfully in household environment. Object localization becomes very challenging in such complicated environment. We proposed a curvature-based Iterative Closest Point algorithm, to help the robot localize a target object in the scene. The point cloud data was collected from the Laboratory for Progress 's Fetch Robot, and our result shows that we can correctly localize object from a cluttered scene. 

This is our course project for Mobile Robotics (EECS 568).