Abstract
General, robots obtain poses of target objects by matching the images of the observed objects with data in database. However, the process of matching images costs so long time that robot’s action become slow. In order to shorten response time for robots searching target objects, we propose a method for robots to obtain information of poses of observed objects by calculating corner points of barcodes on the objects. Since information in a barcode is less than the one in an image, the method can help robot rapidly obtain the information of its target objects. Furthermore, in order to reuse the method in other robot systems, we create a RT-Component(RTC) to realize the method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ohara, K., Sugawara, T., Lee, J.H., Tomizawa, T., Do, H.M., Liang, X., Kim, Y.S., Kim, B.K., Sumi, Y., Tanikawa, T., Onda, H., Ohba, K.: Visual Mark for Robot Manipulation and Its RT-Middleware Component. Advanced Robotics 22(6-7), 633–655 (2008)
Grigorescu, S.M., Macesanu, G., Cocias, T.T., Puiu, D., Moldoveanu, F.: Visual Robust camera pose and scene structure analysis for service robotics. Robotics and Autonomous Systems 59, 899–909 (2011)
Lang, S., Kleinehagenbrock, M., Hohenner, S., Fritsch, J., Fink, G., Sagerer, G.: Providing the basis for human-robot-interaction: A multi-modal attention system for a mobile robot. In: Proceedings of IEEE International Conference on Multimodal Interfaces, pp. 28–35 (2003)
An, S.Y., Kang, J.G., Choi, W.S., Oh, S.Y.: A neural network based retrainable framework for robust object recognition with application to mobile robotics. Appl. Intell. 35, 190–210 (2011)
Lowe, D.G.: Object recognition from local scale-invariant features. In International Conference on Computer Vision (ICCV), Corfu, Greece, pp. 1150–1157 (1999)
Lowe, D.G.: Distinctive Image Features from Scale-Invariant Keypoints. International Journal of Computer Vision (IJCV) 60(2), 91–110 (2004)
Ozen, S., Bouganis, A., Shanahan, M.: A fast evaluation criterion for the recognition of occluded shapes. Robotics and Autonomous Systems 55, 741–749 (2007)
Belongie, S., Melik, J., Puzicha, J.: Shape Matching and Object Recognition Using Shape Contexts. IEEE Transactions on Pattern Analysis and Machine Intelligence 24(24), 509–522 (2002)
He, L., Han, C.Y., Everding, B., Wee, W.G.: Graph matching for object recognition and recovery. Pattern Recognition 37(7), 1557–1560 (2004)
ZBar bar code reader, http://zbar.sourceforge.net/
Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22, 1330–1334 (2000)
OpenCV, http://opencv.willowgarage.com
Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., Yoon, W.: RT-Middleware: Distributed Component Middleware for RT (Robot Technology). In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 3555–3560 (August 2005)
Ando, N., Suehiro, T., Kotoku, T.: A Software Platform for Component Based RT-System Development: OpenRTM-Aist. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. 5325, pp. 87–98. Springer, Heidelberg (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Han, Y., Sumi, Y., Matsumoto, Y., Ando, N. (2012). Acquisition of Object Pose from Barcode for Robot Manipulation. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_28
Download citation
DOI: https://doi.org/10.1007/978-3-642-34327-8_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34326-1
Online ISBN: 978-3-642-34327-8
eBook Packages: Computer ScienceComputer Science (R0)