Proceedings ArticleDOI
Cylindrical Pellet Pose Estimation in Clutter using a Single Robot Mounted Camera
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TLDR
The algorithm enables online pellet pose determination and pick-up using KUKA KR5 robot and a multiple-view based pose recognition system is proposed for occluded pellets.Abstract:
Pose estimation of cylindrical pellet using a single camera-in-hand configuration of a robot is discussed in this paper. Approaches to estimate pose in both isolated and an occluded environment is discussed. The pellet contour from the segmented image of the scene was compared with contours in the database to ascertain the matching orientation. For occluded pellets, a multiple-view based pose recognition system is proposed. Later, the estimated pose was communicated to the robot to enable it to pick-up the pellet. This has been experimentally implemented for cylindrical pellets and the performance is discussed. The algorithm enables online pellet pose determination and pick-up using KUKA KR5 robot.read more
Citations
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Proceedings ArticleDOI
Single image based camera calibration and pose estimation of the end-effector of a robot
TL;DR: During the pose determination, camera internal parameters are obtained, which makes the method a suitable alternative for calibrating camera using a single image and has been found to be better than Zhang's camera calibration algorithm.
Journal ArticleDOI
Combination of geometric and parametric approaches for kinematic identification of an industrial robot
TL;DR: The results show that the proposed method could reduce the errors in pose in a consistent manner, even when different measurement instruments were used, or when there was a deterioration in observability due to the choice of poses during identification.
Journal ArticleDOI
A geometric approach for kinematic identification of an industrial robot using a monocular camera
TL;DR: A monocular camera mounted on the end-effector of an industrial robot KUKA KR5 Arc as the measurement sensor and the kinematic parameters identified using the proposed approach were compared with those obtained using other measurement devices, namely, a total station and a laser tracker.
Journal ArticleDOI
Identification of elasto-static parameters of an industrial robot using monocular camera
TL;DR: In this article, the identification of elasto-static parameters of an industrial robot using measurements from a monocular camera was discussed, and the method of identification involved a parametric method for estimation and the experimental strategy involved joint wise actuation about a particular pose.
Proceedings ArticleDOI
Hand-eye calibration using a single image and robotic picking up using images lacking in contrast
TL;DR: A hand-eye calibration using a new and easy method suitable for a camera mounted on the end-effector of an industrial robot using only a single image is proposed, which could be used in robotic picking up of cubes using a monocular camera.
References
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Book
Multiple view geometry in computer vision
Richard Hartley,Andrew Zisserman +1 more
TL;DR: In this article, the authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly in a unified framework, including geometric principles and how to represent objects algebraically so they can be computed and applied.
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TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and it will show the best book collections and completed collections.
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Use of the Hough transformation to detect lines and curves in pictures
Richard O. Duda,Peter E. Hart +1 more
TL;DR: It is pointed out that the use of angle-radius rather than slope-intercept parameters simplifies the computation further, and how the method can be used for more general curve fitting.
Journal ArticleDOI
Direct Linear Transformation from Comparator Coordinates into Object Space Coordinates in Close-Range Photogrammetry
Y.I. Abdel-Aziz,H.M. Karara +1 more
TL;DR: In this paper, a method for photogrammetric data reduction without the necessity for neither fiducial marks nor initial approximations for inner and outer orientation parameters of the camera has been developed.