Pin insertion system using surface-markers for uniform motion region

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.