6-DOF Object Localization by Combining Monocular Vision and Robot Arm Kinematics

被引：0
|
作者：
Liu, Kun [1 ]
Shang, Weiwei [1 ]
Du, Shuang [1 ]
Cong, Shuang [1 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
Monocular vision; Robot kinematics; Object pose; 6-DOF localization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A robot needs to localize an unknown object before grasping it. When the robot only has a monocular sensor, how can it get the object pose? In this work, we present a method of localizing the 6-DOF pose of a target object using a robotic arm and a hand-mounted monocular camera. The method includes an object recognition and a localization process. The recognition process uses point features on a surface of the target as a model of the object. The object localization process combines the robotic motion data and image data to calculate the 6-DOF pose of the object. This method can process objects containing textured planes. We verify the method in real tests.
引用
收藏
页码：6575 / 6580
页数：6
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