Title :
Kinect-based obstacle detection for manipulator
Author :
Rakprayoon, Panjawee ; Ruchanurucks, Miti ; Coundoul, Ada
Author_Institution :
Fac. of Eng., Kasetsart Univ., Bangkok, Thailand
Abstract :
This paper presents a method to distinguish between obstacles and manipulator when they share the same workspace. Microsoft Kinect is used as a capturing device. A Kinect calibration method is explained. Furthermore, calibration between Kinect and the manipulator is addressed by iterative least-square method. 3D model of manipulator is generated using OpenGL library. Finally, the manipulator surface is deleted from the scene by intersection of data between the manipulator model and its corresponding point cloud.
Keywords :
collision avoidance; image sensors; iterative methods; least squares approximations; manipulators; robot vision; Kinect calibration method; Microsoft Kinect; OpenGL library; iterative least square method; kinect based obstacle detection; manipulator; manipulator surface; Cameras; Manipulators; Robot kinematics; Robot vision systems; Solid modeling; Three dimensional displays;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147421
