Details
| Original language | English |
|---|---|
| Title of host publication | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 4030-4036 |
| Number of pages | 7 |
| Publication status | Published - 2005 |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005 |
Abstract
In this paper a complete framework for the task of grasping a naturally textured object is being presented. The lack of calibration in the components of the eye-in-hand system is overcome by an image trajectory based visual servoing scheme (ITBVS). Using an object model reconstructed off-line consecutive rough pose estimation and refinement of the estimate by scale optimized 3D model to object registration solves the feature correspondence problem in the absence of artificial landmarks. Experimental results using a zoom camera and a 7-DOF serial manipulator prove the effectiveness of the approach.
Keywords
- Grasping, Image trajectory, Model-based, Visual servoing
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Control and Systems Engineering
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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 4030-4036 1545598.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A model-based approach for visual guided grasping with uncalibrated system components
AU - Hornung, Oliver
AU - Heimann, Bodo
PY - 2005
Y1 - 2005
N2 - In this paper a complete framework for the task of grasping a naturally textured object is being presented. The lack of calibration in the components of the eye-in-hand system is overcome by an image trajectory based visual servoing scheme (ITBVS). Using an object model reconstructed off-line consecutive rough pose estimation and refinement of the estimate by scale optimized 3D model to object registration solves the feature correspondence problem in the absence of artificial landmarks. Experimental results using a zoom camera and a 7-DOF serial manipulator prove the effectiveness of the approach.
AB - In this paper a complete framework for the task of grasping a naturally textured object is being presented. The lack of calibration in the components of the eye-in-hand system is overcome by an image trajectory based visual servoing scheme (ITBVS). Using an object model reconstructed off-line consecutive rough pose estimation and refinement of the estimate by scale optimized 3D model to object registration solves the feature correspondence problem in the absence of artificial landmarks. Experimental results using a zoom camera and a 7-DOF serial manipulator prove the effectiveness of the approach.
KW - Grasping
KW - Image trajectory
KW - Model-based
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=79957998852&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545598
DO - 10.1109/IROS.2005.1545598
M3 - Conference contribution
AN - SCOPUS:79957998852
SN - 0780389123
SN - 9780780389120
SP - 4030
EP - 4036
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Y2 - 2 August 2005 through 6 August 2005
ER -