Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimating 3-D location parameters using dual number quaternions
CVGIP: Image Understanding
Computer graphics (2nd ed. in C): principles and practice
Computer graphics (2nd ed. in C): principles and practice
A comparison of four algorithms for estimating 3-D rigid transformations
BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
Model-Based Stereo-Tracking of Non-Polyhedral Objects for Automatic Disassembly Experiments
International Journal of Computer Vision - Special issue on image-based servoing
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Motion Planning
Analysis of 3-D Rotation Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
Registration of Cad-Models to Images by Iterative Inverse Perspective Matching
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Numerical Methods for Model-Based Pose Recovery
Numerical Methods for Model-Based Pose Recovery
Real-time Rigid-body Visual Tracking in a Scanning Electron Microscope
International Journal of Robotics Research
Microassembly of complex and solid 3D MEMS by 3D vision-based control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly
International Journal of Robotics Research
International Journal of Robotics Research
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We present a visual feedback method for closed loop control of automated microassembly. A CAD model based multi-camera visual tracking system that is well suited for flexible automation and assembly of complex 3D geometries was developed. The system is capable of providing six degree-of-freedom pose feedback on the observed micro-components in real-time (30 Hz). Using CAD models of the observed objects, a complete description of the observed scene, including the effect of occlusions, is available and dependence on distinctive visual features such as fudicial marks is avoided.