Cart (Loading....) | Create Account
Close category search window
 

Robust localization for 3D object recognition using local EGI and 3D template matching with M-estimators

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

5 Author(s)
Kawamura, K. ; Kyushu Electr. Power Co. Inc., Fukuoka, Japan ; Hasegawa, K. ; Someya, Y. ; Sato, Y.
more authors

A teleoperated system in a robot greatly reduces the demands on the human operator, although some human intervention is still required to perform such tasks as insulator recognition, positional adjustments of the robot, and guidance toward electric lines and insulators. In order to automate some of the robot's capabilities, we have developed a 3D object-localization method for the robot's positional adjustment. The method is designed to be insensitive to noise, outliers and occlusions while, at the same time, it has optimal run-time efficiency. The main contribution of our algorithm is the use of an objective function which is specified to reduce the effect of noise and outliers in the range image and a method for minimizing this function. The objective function is efficiently minimized by dynamically recomputing correspondences as the pose improves. Our algorithm is general enough to be applied not only to our dual-armed mobile robots but also to other teleoperation robots. This algorithm should greatly reduce the burden of operators when applied. This paper first describes our algorithm, and then presents a performance evaluation

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:2 )

Date of Conference:

2000

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.