Abstract
This contribution describes an extensively tested approach to three-dimensional tracking of a known polyhedral object at two levels of visual robot control, a position-based tracking level and a velocity-based tracking level. At the higher position-based level, an iterated extended Kalman-Filter is used to track a workpiece at a control-cycle of about two hundred milliseconds. This slower cycle operates on top of the video-rate tracking-loop of the velocity-based tracking level. While features such as vertices, edges, and ellipses extracted from gray-value images are used to adjust the 3D pose-estimate at the higher level of control, optical flow is used to initialize the velocity parameters of the upper level and to locally update poses at the lower level.
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© 1997 Springer-Verlag London Limited
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Tonko, M., Schäfer, K., Gengenbach, V., Nagel, HH. (1997). Multi-level 3D-tracking of objects integrating velocity estimation based on optical flow and kalman-filtering. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035212
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DOI: https://doi.org/10.1007/BFb0035212
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