Virtual Visual Servoing for Real-Time Robot Pose Estimation
2011 (English)Conference paper (Refereed)
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
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-60758ScopusID: 2-s2.0-84866751844OAI: oai:DiVA.org:kth-60758DiVA: diva2:477866
18th IFAC World Congress
QC 201201202012-01-132012-01-132012-01-20Bibliographically approved