Title :
An active method for estimating the pose of an object grasped by a robot
Author :
Hirai, Shigeoki ; Asakawa, Tadataka
Author_Institution :
Intelligent Syst. Div., Electrotech. Lab., Ibaraki, Japan
Abstract :
Proposes a method to estimate hand-to-object transformation for a hand-eye system. The method estimates hand-to-object transformation by achieving rotation about a fixed point on the object. The primary feature of the method is that the obtained estimation is almost free from visual measurement error. Several experimental results are also included
Keywords :
computer vision; robots; active method; computer vision; hand-eye system; hand-to-object transformation; pose estimation; robot; rotation; visual measurement error; Estimation error; Feedback; Grasping; Intelligent robots; Intelligent systems; Laboratories; Measurement errors; Motion control; Motion estimation; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174526
