| Presentation | 2005/11/17 3D Pin Insertion System with Monocular Vision Observing Makers on a Moving Object Katsuya KONDO, Aya TAKIO, Syoji KOBASHI, Yutaka HATA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this report, we propose an automated insertion system of a pin for a pipe-like hole in an object moving at a roughly constant speed. It estimates horizontal, vertical position and pose of a hole in real time. By observing some markers on object's surface, they are estimated without model data. By Kalman filters, 3 dimensional(3D) position of markers can be tracked from time series of monocular images. Also, the pose of hole, that is, that of object's surface can be determined from estimated position of markers. In experimental results of an application for pin insertion using a manipulation robot, we show that it can track the 3D position and pose of a hole, and work for a moving object effectively. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Pose estimation / Tracking / Manipulator / Monocular image |
| Paper # | SIS2005-47 |
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| Conference Information | |
| Committee | SIS |
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| Conference Date | 2005/11/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Smart Info-Media Systems (SIS) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | 3D Pin Insertion System with Monocular Vision Observing Makers on a Moving Object |
| Sub Title (in English) | |
| Keyword(1) | Pose estimation |
| Keyword(2) | Tracking |
| Keyword(3) | Manipulator |
| Keyword(4) | Monocular image |
| 1st Author's Name | Katsuya KONDO |
| 1st Author's Affiliation | Graduate School of Engineering, University of Hyogo() |
| 2nd Author's Name | Aya TAKIO |
| 2nd Author's Affiliation | Graduate School of Engineering, University of Hyogo |
| 3rd Author's Name | Syoji KOBASHI |
| 3rd Author's Affiliation | Graduate School of Engineering, University of Hyogo |
| 4th Author's Name | Yutaka HATA |
| 4th Author's Affiliation | Graduate School of Engineering, University of Hyogo |
| Date | 2005/11/17 |
| Paper # | SIS2005-47 |
| Volume (vol) | vol.105 |
| Number (no) | 426 |
| Page | pp.pp.- |
| #Pages | 5 |
| Date of Issue | |