Blar i NTNU Open på forfatter "Kleppe, Adam Leon"
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A Curvature-Based Descriptor for Point Cloud Alignment Using Conformal Geometric Algebra
Kleppe, Adam Leon; Egeland, Olav (Journal article; Peer reviewed, 2018)This paper presents a descriptor for course alignment of point clouds using conformal geometric algebra. The method is based on selecting keypoints depending on shape factors to identify distinct features of the object ... -
Automated assembly using 3D and 2D cameras
Kleppe, Adam Leon; Bjørkedal, Asgeir; Larsen, Kristoffer; Egeland, Olav (Journal article; Peer reviewed, 2017)D and 3D computer vision systems are frequently being used in automated production to detect and determine the position of objects. Accuracy is important in the production industry, and computer vision systems require ... -
Coarse Alignment for Model Fitting of Point Clouds Using a Curvature-Based Descriptor
Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2018)This paper presents a method for coarse alignment of point clouds by introducing a new descriptor based on the local curvature. The method is developed for model fitting a CAD model for use in robotic assembly. The method ... -
Hardware Platform for a Multi-Robot System: Research and implementation of a multi-robot system with a cooperative behavioral control system
Kleppe, Adam Leon (Master thesis, 2013)A small demonstration lab with a multi-robot system is being developed at ITK.This thesis considers the development and implementation of a hardware and softwareplatform for this multi-robot system. An overview of the ... -
Inverse kinematics for industrial robots using conformal geometric algebra
Kleppe, Adam Leon; Egeland, Olav (Journal article; Peer reviewed, 2016)This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that ... -
Object Detection in Point Clouds Using Conformal Geometric Algebra
Sveier, Aksel; Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2017)This paper presents an approach for detecting primitive geometric objects in point clouds captured from 3D cameras. Primitive objects are objects that are well defined with parameters and mathematical relations, such as ... -
Point Cloud Registration for Assembly using Conformal Geometric Algebra
Kleppe, Adam Leon (Doctoral theses at NTNU;2018:197, Doctoral thesis, 2018)This thesis is a collection of five journal papers and one conference paper. The thesis is on pose alignment and point correspondence estimation for 3D point clouds, and inverse kinematics of industrial robots. The approaches ...