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Virtual Visual Servoing for Real-Time Robot Pose Estimation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We propose a system for markerless pose estimation and tracking of a robot manipulator. By tracking the manipulator, we can obtain an accurate estimate of its position and orientation necessary in many object grasping and manipulation tasks. Tracking the manipulator allows also for better collision avoidance. The method is based on the notion of virtual visual servoing. We also propose the use of distance transform in the control loop, which makes the performance independent of the feature search window.

Place, publisher, year, edition, pages
2011.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-60758Scopus ID: 2-s2.0-84866751844OAI: oai:DiVA.org:kth-60758DiVA: diva2:477866
Conference
18th IFAC World Congress
Note
QC 20120120Available from: 2012-01-13 Created: 2012-01-13 Last updated: 2012-01-20Bibliographically approved

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Kragic, Danic

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Gratal, XaviRomero, JavierKragic, Danic
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