By Topic

Object shape reconstruction and pose estimation by a camera mounted on a mobile robot

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

4 Author(s)
Yamazaki, K. ; Inst. of Eng. Mechanics & Syst., Tsukuba Univ., Ibaraki, Japan ; Tomono, M. ; Tsubouchi, T. ; Yuta, S.

This paper describes how to acquire 3-D shape of an object and to estimate robot pose by observing an unknown object. A single camera is placed on the robot, image streams of the target object are captured by the camera on a mobile robot moving around the object. Computer vision techniques are utilized under the condition that shape, size and accurate position information of the target object is not given in advance, but the robot finds the target object and reconstructs the 3-D object shape by itself. In addition, it is necessary that the robot grasps relative pose between itself and the target object. Experimental result show the effectiveness of our method in point of robustness and accuracy for the mobile robot.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004