Pose estimation of a tilted pellet using single view from robot mounted camera
TL;DR: A novel approach for finding the orientation of the tilted pellet using a single view of the pellet, using a texture less isolated cylindrical object for the pick and place operation is proposed.
Abstract: This paper proposes a novel approach for finding the orientation of the tilted pellet using a single view of the pellet. This is important for the automation of pick and place problem. A texture less isolated cylindrical object is used for the pick and place operation. In this approach the isolated pellets are segmented from the background, following which, its contour is estimated. Then based on the assumption that length and diameter of the pellet remains constant, the mathematical formulation of the pose estimation of the pellet is given, and using which the orientation of the tilted pellet is computed using just single view. This is then experimentally verified for the different orientations of the pellet and the results are within the acceptable levels of accuracy A brief overview of the error estimation has been included. This error in orientation of the pellet is due to the variance in the actual height of the pellet. Error Jacobian for the above inaccuracy was calculated, and was found to be within required limits.
Citations
More filters
Journal Article•
[...]
TL;DR: In this article, the authors review some of the work that goes beyond using artificial landmarks and fiducial markers for the purpose of implementing vision-based control in robots and discuss different application areas, both from the systems perspective and individual problems such as object tracking and recognition.
Abstract: Robot vision refers to the capability of a robot to visually perceive the environment and use this information for execution of various tasks. Visual feedback has been used extensively for robot navigation and obstacle avoidance. In the recent years, there are also examples that include interaction with people and manipulation of objects. In this paper, we review some of the work that goes beyond of using artificial landmarks and fiducial markers for the purpose of implementing vision-based control in robots. We discuss different application areas, both from the systems perspective and individual problems such as object tracking and recognition.
46 citations
References
More filters
Book•
01 Jan 2000TL;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.
Abstract: From the Publisher:
A basic problem in computer vision is to understand the structure of a real world scene given several images of it. Recent major developments in the theory and practice of scene reconstruction are described in detail in a unified framework. The book covers the geometric principles and how to represent objects algebraically so they can be computed and applied. The authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly.
15,558 citations
TL;DR: A flexible technique to easily calibrate a camera that only requires the camera to observe a planar pattern shown at a few (at least two) different orientations is proposed and advances 3D computer vision one more step from laboratory environments to real world use.
Abstract: We propose a flexible technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one more step from laboratory environments to real world use.
13,200 citations
"Pose estimation of a tilted pellet ..." refers background or methods in this paper
...But the fact that all the pellets are lying on the table in an isolated manner can be exploited to get Zposition information by calibrating the KUKA Robot [11] end effector to the table, and thereby deriving the other two information - X-position and Y-position of the pellet- by calibrating the camera mounted on the robot to the workspace lying on the surface of the table using the Zhang‟s calibration [6]....
[...]
...Similarly, [5, 6] have used monocular vision but in their work also focused on the look-up-table (LUT) scheme, through which the data was learned and hence the pose of the object was deciphered....
[...]
Book•
01 Apr 20011,026 citations
08 May 1994
TL;DR: A system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10 Hz using an enhanced implementation of the Iterative Closest Point Algorithm introduced by Besl and McKay (1992).
Abstract: This paper describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10 Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is performed by registering the real-time range data to the triangular mesh model using an enhanced implementation of the Iterative Closest Point (ICP) Algorithm introduced by Besl and McKay (1992). The method does not require explicit feature extraction or specification of correspondence. Pose estimation accuracies of the order of 1% of the object size in translation, and 1 degree in rotation have been measured. >
161 citations
"Pose estimation of a tilted pellet ..." refers background in this paper
...Few of the known approaches for pose estimation include use of stereo vision [1] and range sensors [2]....
[...]
13 Jun 2010
TL;DR: This work uses a data driven MCMC approach to find an optimal pose based on a likelihood that compares synthesized depth images to the observed depth image, and makes use of bottom up detectors that generate candidate head, hand and forearm locations to speed up convergence.
Abstract: We estimate and track articulated human poses in sequences from a single view, real-time range sensor. We use a data driven MCMC approach to find an optimal pose based on a likelihood that compares synthesized depth images to the observed depth image. To speed up convergence of this search, we make use of bottom up detectors that generate candidate head, hand and forearm locations. Our Markov chain dynamics explore solutions about these parts and thus combine bottom up and top down processing. The current performance is 10 frames per second. We provide quantitative performance evaluation using hand annotated data. We demonstrate significant improvement over a baseline ICP approach. This algorithm is then adapted to estimate the specific shape parameters of subjects for use in tracking. In particular, limb dimensions are included in the human pose parametrization and are automatically estimated for each subject in short training sequences. Tracking performance is quantitatively evaluated using these person specific trained models.
110 citations
"Pose estimation of a tilted pellet ..." refers background in this paper
...1 Related Work There has been a lot of research in the area of pose estimation of a 3D object using single view point [8, 9], in which using a single view important features are captured....
[...]