Multiple camera model-based 3-D visual servo

Author

Stavnitzky, Jay ; Capson, David

Author_Institution

Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont., Canada

Volume

16

Issue

6

fYear

2000

fDate

12/1/2000 12:00:00 AM

Firstpage

732

Lastpage

739

Abstract

A multiple camera, visual servo system is presented that tracks and aligns rigid objects in 3D using wire-frame models. The system is capable of achieving frame-rate (30 Hz between two cameras) object tracking while using nonlinear iterative pose estimation. Tracking begins with a rough estimate of the positions of the objects. The relative rotation and translation of the cameras (external calibration) is calculated from the images. Six degree-of-freedom object pose estimates are computationally fused to provide tracking that is both stable and robust to occlusion. The tracking data is used to move (servo) the objects together while performing online robot Jacobian estimation. The robot is controlled in real time by joint angles with no prior knowledge of its kinematics

Keywords

Jacobian matrices; iterative methods; manipulators; nonlinear estimation; real-time systems; robot vision; sensor fusion; servomechanisms; tracking; 30 Hz; 6-DOF object pose estimate fusion; frame-rate object tracking; multiple camera model-based 3D visual servo; nonlinear iterative pose estimation; occlusion-robust tracking; online robot Jacobian estimation; real-time control; rigid objects; stable tracking; wire-frame models; Calibration; Cameras; Fixtures; Manufacturing; Robot control; Robot vision systems; Robotic assembly; Robustness; Service robots; Servomechanisms;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.897784

Filename

897784