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Integrating 3D features and virtual visual servoing for hand-eye and humanoid 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), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2015 (English)In: IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, 2015, no February, 240-245 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose an approach for vision-based pose estimation of a robot hand or full-body pose. The method is based on virtual visual servoing using a CAD model of the robot and it combines 2-D image features with depth features. The method can be applied to estimate either the pose of a robot hand or pose of the whole body given that its joint configuration is known. We present experimental results that show the performance of the approach as demonstrated on both a mobile humanoid robot and a stationary manipulator.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. no February, 240-245 p.
Keyword [en]
Anthropomorphic robots, Computer aided design, Robotic arms, Robots, Visual servoing, CAD modeling, Depth features, Humanoid robot, Image features, Joint configuration, Mobile humanoid robot, Pose estimation, Virtual visual servoing, Manipulators
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-175058DOI: 10.1109/HUMANOIDS.2013.7029982Scopus ID: 2-s2.0-84937947912OAI: oai:DiVA.org:kth-175058DiVA: diva2:877353
Conference
2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013, 15 October 2013 through 17 October 2013
Note

QC 20151207

Available from: 2015-12-07 Created: 2015-10-09 Last updated: 2015-12-07Bibliographically approved

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Smith, ChristianBjörkman, MårtenKragic, Danica

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  • apa
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Output format
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