NDLI: Estimating workpiece pose using the feature points method

Content Provider	IEEE Xplore Digital Library
Author	Nai-Yung Chen Birk, J. Kelley, R.
Copyright Year	1963
Abstract	The ability of a robot to estimate workpiece pose is necessary for many industrial tasks. An automatic method of visually estimating the pose of a workpiece in a robot hand has been investigated. This method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed. Workpiece pose was estimated using the three-dimensional locations of at least three noncollinear workpiece feature points. A second view of the workpiece was obtained by rotating the workpiece in front of the camera. Corresponding image features on the second view were found by searching along lines on the image which were determined by the rotation of the workpiece. A very accurate camera calibration procedure has been developed to compute rays in space from image locations. The location of workpiece features was computed by trigonometric relations between rays of corresponding image features from two views of the workpiece. The pose of a workpiece was estimated by the correspondence between the workpiece features located and the feature points of a workpiece model. Experiments have been performed on a complete functional system. The major limitation of the current system was due to the image feature extraction algorithm which only detected corners and small holes.
Sponsorship	IEEE Control Systems Society
Starting Page	1027
Ending Page	1041
Page Count	15
File Size	1588347
File Format	PDF
ISSN	00189286
Volume Number	25
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1980-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Belts Fixtures Robot kinematics Humans Automotive engineering Airplanes Interpolation Pressure measurement Image recognition Instruments
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Intelligent robot control using ultrasonic measurements

Increasing Accuracy in Image-Guided Robotic Surgery Through Tip Tracking and Model-Based Flexion Correction

Robot-to-Robot Relative Pose Estimation From Range Measurements

Feature Localization Using Kinematics and Impulsive Hybrid Optimization

Vision-assisted control for manipulation using virtual fixtures

Experimental results on kinematic calibration of parallel manipulators using a partial pose measurement device

Image-Based 3D Pose Reconstruction of Surgical Needle for Robot-Assisted Laparoscopic Suturing

Automatic singularity avoidance using joint variations in robot task modification

Visual Measurement of the Racket Trajectory in Spinning Ball Striking for Table Tennis Player

Estimating workpiece pose using the feature points method

Similar Documents

Intelligent robot control using ultrasonic measurements

Increasing Accuracy in Image-Guided Robotic Surgery Through Tip Tracking and Model-Based Flexion Correction

Robot-to-Robot Relative Pose Estimation From Range Measurements

Feature Localization Using Kinematics and Impulsive Hybrid Optimization

Vision-assisted control for manipulation using virtual fixtures

Experimental results on kinematic calibration of parallel manipulators using a partial pose measurement device

Image-Based 3D Pose Reconstruction of Surgical Needle for Robot-Assisted Laparoscopic Suturing

Automatic singularity avoidance using joint variations in robot task modification

Visual Measurement of the Racket Trajectory in Spinning Ball Striking for Table Tennis Player

Estimating workpiece pose using the feature points method