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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Takio, A. Kondo, K. Kobashi, S. Hata, Y. |
| Copyright Year | 2005 |
| Description | Author affiliation: Graduate Sch. of Eng., Hyogo Univ., Japan (Takio, A.; Kondo, K.; Kobashi, S.; Hata, Y.) |
| Abstract | In this paper, we propose a real-time position and pose tracking method for pin insertion to a pipe-like hole in almost uniform motion region. In the conventional methods for estimating position or pose of the region, a three-dimensional (3D) model data of the target region is often needed. For reducing the processing time, our approach achieves the position and pose estimation without the model data. In order to estimate and track it using a single camera, we set some landmarks on the region surface. Additionally, Kalman filters are used to estimate 3D position of the landmarks. We apply the proposed method to the insertion system for a pipe-like hole in a solid object. In the experimental results using a manipulation robot, we show that it can insert a stick into the hole in the almost uniform motion region in real-time. |
| Starting Page | 1931 |
| Ending Page | 1936 |
| File Size | 495024 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780392981 |
| DOI | 10.1109/ICSMC.2005.1571429 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-10-12 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Target tracking Medical robotics Service robots Robot vision systems Robotics and automation Real time systems Cameras Biomedical imaging Costs Robot sensing systems almost uniform motion region Pose estimation extended Kalman filter manipulator landmarks |
| Content Type | Text |
| Resource Type | Article |
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