Invariant Descriptors for 3D Object Recognition and Pose
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part I
Geometric invariance in computer vision
Geometric invariance in computer vision
Projective pose estimation of linear and quadratic primitives in monocular computer vision
CVGIP: Image Understanding
3D interpretation of conics and orthogonality
CVGIP: Image Understanding
Conics-based stereo, motion estimation, and pose determination
International Journal of Computer Vision
Conic Reconstruction and Correspondence From Two Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Circular Motion Geometry Using Minimal Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
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A robotic vision-guided system that permits to manipulate different mixed parts is described in this paper. In order to work on a wide range of sizes and without stopping the products the industrial robot is equipped with two vision systems. A fixed vision system acquires a global image of the approaching radiators and computes a first pose estimation. This estimation is used for the robot to approach to the part and a second system, mounted on the robot arm, acquires a closer image to determine precisely the position and orientation just before the manipulation is performed. The developed system is working nowadays in an industrial line making it possible to robotize a complex task without using costly and inflexible fixtures.