A model-based approach for visual guided grasping with uncalibrated system components

verfasst von

Oliver Hornung, Bodo Heimann

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

4030-4036

Anzahl der Seiten

7

Publikationsdatum

2005

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Artificial intelligence, Maschinelles Sehen und Mustererkennung, Mensch-Maschine-Interaktion, Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.1109/IROS.2005.1545598 (Zugang: Unbekannt)