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Robots with visual sensors have been used in various goods logistics, such as bin picking or uploading. However, there are more and more demands for the automatic blanking and loading, and it is necessary to solve the problem of object pose estimation in changing accommodation space. This paper proposes a method for pose estimation in the accommodation space using alpha-shape algorithm and improved fruit fly optimization algorithm (FOA). The alpha-shape volume variety of object and measured space is set to the objective function, and the pose variety of object is set to six variables of improved FOA. The experiments were performed by setting parameters of improved FOA and considering the four space types represented the common accommodation shapes. Compared with previous work using convex hull, the new study using alpha-shape algorithm not only keeps the object in the accommodation space, but also maintains the object pose which is at the bottom of the space and can meet the practical requirement of object placement by robot arms.

Object pose estimation for robot loading in accommodation space using alpha-shape algorithm