Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing
Walck G, Drouin M (2010)
In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. Taipei, Taiwan: IEEE: 2727-2732.
Konferenzbeitrag
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Autor*in
Walck, GuillaumeUniBi;
Drouin, Michel
Abstract / Bemerkung
This paper presents a method for the automatic observation of unknown objects. We aim at finding the position of the targeted object and at capturing multiple views of its shape using a single eye-in-hand camera. The main goal is modeling the unknown object via 3D reconstruction before grasping and manipulating it with a robot hand. The proposed method built over a visual servo loop uses simple features to constantly gaze at the object and handles a three-step exploration with the same control structure. Images captured with the experimental setup are processed online to recover a model with millimetric accuracy.
Stichworte
solid modelling;
visual servoing;
robot vision;
path planning;
object tracking;
dexterous manipulators;
cameras;
navigation
Erscheinungsjahr
2010
Titel des Konferenzbandes
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10
Seite(n)
2727-2732
Konferenz
IROS'10
Konferenzort
Tapei, Taiwan
Konferenzdatum
2010-10-18 – 2010-10-22
ISSN
2153-0858
Page URI
https://pub.uni-bielefeld.de/record/2691114
Zitieren
Walck G, Drouin M. Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. Taipei, Taiwan: IEEE; 2010: 2727-2732.
Walck, G., & Drouin, M. (2010). Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10, 2727-2732
Walck, Guillaume, and Drouin, Michel. 2010. “Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing”. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10, 2727-2732. Taipei, Taiwan: IEEE.
Walck, G., and Drouin, M. (2010). “Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing” in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10 (Taipei, Taiwan: IEEE), 2727-2732.
Walck, G., & Drouin, M., 2010. Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. Taipei, Taiwan: IEEE, pp. 2727-2732.
G. Walck and M. Drouin, “Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10, Taipei, Taiwan: IEEE, 2010, pp.2727-2732.
Walck, G., Drouin, M.: Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. p. 2727-2732. IEEE, Taipei, Taiwan (2010).
Walck, Guillaume, and Drouin, Michel. “Automatic Observation for 3D Reconstruction of Unknown Objects Using Visual Servoing”. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10. Taipei, Taiwan: IEEE, 2010. 2727-2732.
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