Meny

Du är här

Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints

Författare:
Publiceringsår: 2003
Språk: Engelska
Sidor: 3491-3496
Publikation/Tidskrift/Serie: Proceedings. ICRA '03.
Volym: 3
Dokumenttyp: Konferensbidrag
Förlag: IEEE

Sammanfattning

In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye transformation,viewing a stationary object with unknown position. The method usesdual quaternions to express the relationship between the camera- andend-effector screws. It is shown how using the measured motion of therobot end-effector can improve the accuracy of theestimation, even if the relative position and orientation between sensorand actuator is completely unknown.The method is evaluated in simulations on images from a real-time 3D renderingsystem. The system is shown to be able to track the pose of rigid objects and changes in intrinsic camera parameters, using only rough initial values for the parameters. The method is finally validated in anexperiment using real images from a camera mounted on an industrial robot.

Disputation

Nyckelord

  • Technology and Engineering
  • motion estimation
  • industrial robots
  • real-time systems
  • rendering (computer graphics)
  • target tracking
  • Kalman filters
  • computer vision
  • camera calibration
  • extended Kalman filter
  • end effector screws
  • dual quaternions
  • contour based rigid body tracking
  • hand-eye motion constraints
  • eye-in-hand camera
  • motion measurement
  • industrial robot
  • real-time system
  • visual position tracking

Övriga

Published
Yes
  • ISSN: 1050-4729
  • ISBN: 0-7803-7736-2

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen