Research Projects (2001)
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Visual Pose Determination by a Robot in six degrees of freedom
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We propose to develop a robotic system for the exact pose estimation of rigid objects in six degrees of freedom (DoF). Our approach is based on the following scenario: Given be a set of unordered objects in arbitrary position which come from a small variety (<10) of different types as may happen on a conveyor belt during an assembly process. We assume the objects to be mostly un-occluded and their CAD-model given. Our goal is to pick with a robot a specific object in such a way that it has a defined position. The robot is equipped with multiple black and white cameras (e.g., 2-3). In order to achieve maximum generality we do not intend to use range information nor calculate a 3D-representation from stereo images. This task requires a solution for the following sub-problems: Recognition and initial pose estimation, which will be approached using robust appearance-based recognition methods; Pose refinement will be handled by model-based methods; Movement planning to enhance the accuracy of the pose estimation. Partnerlist: |
2001 | 2002 |
