Abstract
Robotic handling of objects requires exact knowledge of the object pose. In this work, we propose a novel vision system, allowing robust and accurate pose estimation of objects, which are grasped and held in unknown pose by an industrial manipulator. For superior robustness, we solely rely on object contour as a visual cue. We address the apparent problems of object symmetry and ambiguous perspective by acquiring multiple views of the object cheaply and accurately, through a mirror system. Self-calibration of the mirror setup allows us to model the mirror geometry and perform metric multiview contour matching with a known 3D model.
Original language | English |
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Title of host publication | VISAPP 2010 Proceedings |
Pages | 423-426 |
Publication status | Published - 2010 |
Event | International Conference on Computer Vision Theory and Applications: VISAPP 2010 - Angers, France Duration: 17 May 2010 → 21 May 2010 |
Conference
Conference | International Conference on Computer Vision Theory and Applications |
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Country/Territory | France |
City | Angers |
Period | 17/05/10 → 21/05/10 |
Treatment code (Nähere Zuordnung)
- Theoretical
- Application