3-D position/orientation measrurement using model-based matching method and GA - Proposal of calculation method and evaluation

Wei Song, Takahiro Natsume, Mamoru Minami

Research output: Contribution to conferencePaper

Abstract

This paper presents a vision-related technique for 3-D position/ orientation measurement. The proposed method utilizes the genetic algorithm (GA) and unprocessed gray-scale image input from stereo-vision, in order to perform recognition of a target being imaged with known target object shape. In fact here, the problem to recognize the target shape and simultaneous detection of the position/orientation, is converted to an optimistic problem of a model-based evalution function, named as surface-strips model-based fitness function that consists in the computation of the brightness difference between an internal surface and a contour-strips. In order to evaluate the proposed 3-D recognition method, experiments by a robot manipulator equipped with two hand-eye cameras have been conducted to recognize a ball on a turning table. The results show its effectiveness of this method for real-time visual servoing by manipulator.

Original languageEnglish
Pages277-282
Number of pages6
Publication statusPublished - 2004
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: Aug 4 2004Aug 6 2004

Other

OtherSICE Annual Conference 2004
CountryJapan
CitySapporo
Period8/4/048/6/04

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Song, W., Natsume, T., & Minami, M. (2004). 3-D position/orientation measrurement using model-based matching method and GA - Proposal of calculation method and evaluation. 277-282. Paper presented at SICE Annual Conference 2004, Sapporo, Japan.