NDLI: Real-time pose estimation of an object manipulated by multi-fingered hand using 3D stereo vision and tactile sensing

Content Provider	IEEE Xplore Digital Library
Author	Honda, K. Hasegawa, T. Kiriki, T. Matsuoka, T.
Copyright Year	1998
Description	Author affiliation: Graduate Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka, Japan (Honda, K.)
Abstract	We describe a real-time model-based sensing system to estimate the pose of an object manipulated by a multifingered hand in a realistic environment. The system uses the least-squares method to estimate the pose, on the assumption that the approximate initial pose and geometric shapes of the object and fingertips are known. 3D measurement of features on the surface of the object is achieved by visual tracking with stereo camera using a template matching method. The primary features used for visual tracking are distinguishable texture patterns on the object surface. In complex environments, visual tracking can be failed due to the various occlusion. The system solves the occlusion problem by detecting the occlusion and using contact information of fingertips with the 3D visual information. Actual implementation of the system is explained together with results of experiments about the stability of tracking, the accuracy of estimation, and the processing time of the system.
Starting Page	1814
Ending Page	1819
File Size	582479
Page Count	6
File Format	PDF
ISBN	0780344650
DOI	10.1109/IROS.1998.724860
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-10-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Fingers Layout Real time systems Shape measurement Surface texture Machine vision Information science Cameras Stability
Content Type	Text
Resource Type	Article

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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
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