This paper presents our work from an on going project on motion and pose estimation for supporting vision-guided fine manipulation of orbital replaceable units in a cluttered environment. The major challenges of this work include target objects, some with highly reflective or mirror surfaces, moving in a cluttered environment with changing illumination. These challenges are dealt with through closed-looped integration of video from multiple cameras and manipulator joint angle measurements, along with moving edge detection and model-based feature tracking. A powerful technique based on a Lie group and its associated Lie algebra is employed for pose estimation. Effectiveness of the proposed techniques is illustrated by good test results for data acquired in the laboratory.
Pose estimation for servicing of orbital replacement units in a cluttered environment
2004
6 Seiten, 9 Quellen
Aufsatz (Konferenz)
Englisch
Real-time pose estimation of rigid objects in heavily cluttered environments
British Library Online Contents | 2015
|Real-time pose estimation of rigid objects in heavily cluttered environments
British Library Online Contents | 2015
|Estimating 3D hand pose from a cluttered image
IEEE | 2003
|Estimating 3D Hand Pose from a Cluttered Image
British Library Conference Proceedings | 2003
|Orbital Replacement Units (ORUS) Design Considerations
NTIS | 1989
|