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
收藏
页码：240 / 245
页数：6
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