By Topic

Kinect-based obstacle detection for manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Rakprayoon, P. ; Fac. of Eng., Kasetsart Univ., Bangkok, Thailand ; Ruchanurucks, M. ; Coundoul, A.

This paper presents a method to distinguish between obstacles and manipulator when they share the same workspace. Microsoft Kinect is used as a capturing device. A Kinect calibration method is explained. Furthermore, calibration between Kinect and the manipulator is addressed by iterative least-square method. 3D model of manipulator is generated using OpenGL library. Finally, the manipulator surface is deleted from the scene by intersection of data between the manipulator model and its corresponding point cloud.

Published in:

System Integration (SII), 2011 IEEE/SICE International Symposium on

Date of Conference:

20-22 Dec. 2011