A tracking based manipulation system built on stereo vision

This paper presents a manipulation system which is based on visual tracking. A tracking function is useful not only for tracking moving objects but also to verify the result of a task and to detect events in various phases of a task. In our system the tracking function is provided by a stereo vision system. Recognition and tracking procedures are based on a geometric model representation that has generality for a wide range of solid objects. The implemented tracking method is robust against partial occlusion of the tracked object and enables short cycle monitoring of the target coordinates. These features make it possible to build a tracking-based manipulation system. A pick-and-insertion task was executed to show various uses of the tracking function