Ellipse fitting and three-dimensional localization of objects based on elliptic features

Author

Werghi, Naoufel ; Doignon, Christophe ; Abba, G.

Author_Institution

Univ. Louis Pasteur, Strasbourg

Volume

1

fYear

1996

fDate

16-19 Sep 1996

Firstpage

57

Abstract

In the area of robotic vision we are interested in developing algorithms for the control of a robot manipulator by means of visual feedback. Image analysis and exploitation of the image features are therefore steps of importance. This paper deals with the problem of three-dimensional localization of objects representing circular patterns. The first part of the paper is concerned with the parametrization of elliptic curves and the second part is dedicated to the estimation of an object´s position and orientation

Keywords

Kalman filters; curve fitting; filtering theory; manipulators; nonlinear filters; parameter estimation; robot vision; algorithms; circular patterns; ellipse fitting; elliptic curves parametrization; elliptic features; extended Kalman filter; image analysis; image exploitation; image features; object localization; object orientation estimation; object position estimation; robot manipulator control; robotic vision; three-dimensional localization; visual feedback; Filtering; Hypercubes; Image converters; Iterative algorithms; Iterative methods; Low pass filters; Mean square error methods; Telecommunications; Vector quantization; Very large scale integration;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Processing, 1996. Proceedings., International Conference on

Conference_Location

Lausanne

Print_ISBN

0-7803-3259-8

Type

conf

DOI

10.1109/ICIP.1996.560600

Filename

560600