مقاله Interoperable vision component for object detection and 3D pose estimation for modularized robot control : تی پی بین

خلاصه مقاله

Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects and interact with humans. We present novel algorithms for local feature matching for object detection, and 3D pose estimation. Our feature matching algorithm takesadvantage of local geometric consistency for better performance, and the new 3D pose estimation algorithm solves the pose in a closed-form using homography, followed by a non-linear optimization step for stability. Advantages of our approach include better performance, minimal prior knowledge for the target pattern, and easy implementation and portability as a modularized software component. We have implemented our approach along with both CPU and GPU-based feature extraction, and built an interoperable component that can be used in any Robot Technology (RT)-based control system. Experiment shows that our approach produces very robust results for the estimated 3D pose, and maintain very low false positive rate. It is also fast enough to be used in on-line applications. We integrated our vision component in an autonomous robot system with a search-and-grasp task, and tested it with several objects that are found in ordinary domestic environment. We present the details of our approach, the design of our modular component design, and the results of the experiments in this paper.

نویسندگان

Yasushi Mae [ Department of Systems Innovation, Division of Systems Science and Applied Informatics, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan ]

Hideyasu Takahashi [ Department of Systems Innovation, Division of Systems Science and Applied Informatics, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan ]

Kenichi Ohara [ Department of Systems Innovation, Division of Systems Science and Applied Informatics, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan ]

Tomohito Takubo [ Department of Systems Innovation, Division of Systems Science and Applied Informatics, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan ]

Tatsuo Arai [ Department of Systems Innovation, Division of Systems Science and Applied Informatics, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan ]

کلمات کلیدی

Robot vision Object detection Pose estimation Local features Feature matching

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مشاهده مقالات

Mechatronics 2011

The Science of Intelligent Machines Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence.

حوزه های تحت پوشش : mechanical engineering , electronic control , systems thinking