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

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

995

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241722

Filename

1241722