Integrating 3D Features and Virtual Visual Servoing for Hand-Eye and Humanoid Robot Pose Estimation

被引：0

作者：

Gratal, Xavi ^{[1
]}

Smith, Christian ^{[1
]}

Bjorkman, Marten ^{[1
]}

Kragic, Danica ^{[1
]}

机构：

[1] Royal Inst Technol KTH, Sch Comp Sci & Commun, Ctr Autonomous Syst, Comp Vis & Act Percept Lab, SE-10044 Stockholm, Sweden

来源：

2013 13TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose an approach for vision-based pose estimation of a robot hand or full-body pose. The method is based on virtual visual servoing using a CAD model of the robot and it combines 2-D image features with depth features. The method can be applied to estimate either the pose of a robot hand or pose of the whole body given that its joint configuration is known. We present experimental results that show the performance of the approach as demonstrated on both a mobile humanoid robot and a stationary manipulator.

引用

页码：240 / 245

页数：6

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