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Active visual sensing of the 3-D pose of a flexible object

Published online by Cambridge University Press:  09 March 2009

Jong-Eun Byun  and
Tadashi Nagatat
Jong-Eun Byun
Affiliation:
Department of Electrical Engineering, Kyushu University, 6–10–1 Hakozaki, Hagashiku, Fukuoka, 812–81 (Japan).
Tadashi Nagatat
Affiliation:
Department of Computer Science and Communication Engineering, Kyushu University, 6–10–1 Hakozaki, Higashiku, Fukuoka, 812–81 (Japan).
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Summary

This paper presents an active visual method for determining the 3-D pose of a flexible object with a hand-eye system. Some simple and effective on-line algorithms to overcome various exceptional situations in chaincoding or determine the object pose more precisely are developed. The pose of a flexible object can be easily changed because of the flexible nature and the prediction of the pose is almost impossible. A new sensing pose is computed by using the image coordinates of the points on the border line of an image window and the current pose of a hand-eye system for the cases that the flexible object is extended outside the window. In a case of exceptional overlapping, a new sensing pose is computed by using the image coordinates of four extreme image points and the current pose of the hand-eye system. Through a chaincoding process on the skeletonized images, the stereo matching problem of two images is transformed into the matching of the curvature representations of the two skeletonized images. The 3-D pose of a flexible object is computed by using the results of this matching and the camera and hand-eye parameters calibrated beforehand. The initial sensing results are used in computing a new sensing pose to determine the object more precisely.

Keywords

Visual sensingFlexible object3-D poseHand-eye system.
Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 173 - 188
Copyright
Copyright © Cambridge University Press 1996

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