Object shape reconstruction and pose estimation by a camera mounted on a mobile robot

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shi N.Ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper discribes how to acquire 3-D shape of an object and to estimate robot pose by observing an unknown object. A single camera is placed on the robot, image streams of the target object are captured by the camera on a mobile robot moving around the object. Computer vision techniques are utilized under the condition that shape, size and accurate position information of the target object is not given in advance, but the robot finds the target object and reconstructs the 3-D object shape by itself. In addition, it is necessary that the robot grasps relative pose between itself and the target object. Experimental result show the effectiveness of our method in point of robustness and accuracy for the mobile robot.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages4019-4025
Number of pages7
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Yamazaki, K., Tomono, M., Tsubouchi, T., & Yuta, S. N. I. (2004). Object shape reconstruction and pose estimation by a camera mounted on a mobile robot. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4019-4025). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).