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This paper presents our work from an on going project on motion and pose estimation for supporting vision-guided fine manipulation of orbital replaceable units in a cluttered environment. The major challenges of this work include target objects, some with highly reflective or mirror surfaces, moving in a cluttered environment with changing illumination. These challenges are dealt with through closed-looped integration of video from multiple cameras and manipulator joint angle measurements, along with moving edge detection and model-based feature tracking. A powerful technique based on a Lie group and its associated Lie algebra is employed for pose estimation. Effectiveness of the proposed techniques is illustrated by good test results for data acquired in the laboratory.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:5 )
Date of Conference: 26 April-1 May 2004