By Topic

Real-time tracking and pose estimation for industrial objects using geometric features

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)
Youngrock Yoon ; Robot Vision Lab., Purdue Univ., West Lafayette, USA ; Desouza, G.N. ; Kak, A.C.

This paper presents a fast tracking algorithm capable of estimating the complete pose (6DOF) of an industrial object by using its circular-shape features. Since the algorithm is part of a real-time visual servoing system designed for assembly of automotive parts on-the-fly, the main constraints in the design of the algorithm were: speed and accuracy. That is: close to frame-rate performance, and error in pose estimation smaller than a few millimeters. The algorithm proposed uses only three model features, and yet it is very accurate and robust. For that reason both constraints were satisfied: the algorithm runs at 60 fps (30 fps for each stereo image) on a PIII-800 MHz computer, and the pose of the object is calculated within an uncertainty of 2.4 mm in translation and 1.5 degree in rotation.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003