Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Patch-Duplets for Object Recognition and Pose Estimation
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
Isolated 3D object recognition through next view planning
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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Pose estimation of cylindrical pellet using a single camera-in-hand configuration of a robot is discussed in this paper. Approaches to estimate pose in both isolated and an occluded environment is discussed. The pellet contour from the segmented image of the scene was compared with contours in the database to ascertain the matching orientation. For occluded pellets, a multiple-view based pose recognition system is proposed. Later, the estimated pose was communicated to the robot to enable it to pick-up the pellet. This has been experimentally implemented for cylindrical pellets and the performance is discussed. The algorithm enables online pellet pose determination and pick-up using KUKA KR5 robot.