Title :
Design of an artificial mark to determine 3D pose by monocular vision
Author :
Katsuki, Rie ; Ota, Jun ; MIZUTA, Takahisa ; KITO, Tomomi ; Arai, Tamio ; Ueyama, Tsuyoshi ; NISHIYAMA, Tsuyoshi
Author_Institution :
Dept. of Precision Eng., Tokyo Univ., Japan
Abstract :
The design for an artificial mark attached to small objects is presented in this paper. Three conditions are required for the design of the marks: (1) short calculation time, (2) easy attachment, and (3) individual calculation for each item. The marks are obtained by using three different extraction methods. The experiments determine the best mark. The mark using the method that extract colors and calculated the gravity has good results. We analyze the errors of the mark that has best experiment. The appropriateness of the experimental results is then confirmed. We have the experiment that the manipulator handles the objects with the best mark. The experiment is successful. Therefore, the usability of the mark is verified.
Keywords :
feature extraction; image colour analysis; image recognition; manipulators; robot vision; 3-D pose; artificial mark design; color extraction; gravity calculation; image processing; image recognition; manipulators; mark errors; monocular vision; Cameras; Charge coupled devices; Charge-coupled image sensors; Design engineering; Gravity; Image processing; Manipulators; Precision engineering; Robot vision systems; Usability;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241722
