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

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

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ4019-4025
ページ数7
出版ステータスPublished - 2004 12月 1
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9月 282004 10月 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4

Other

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

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Object shape reconstruction and pose estimation by a camera mounted on a mobile robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル