Vision-Based Measurement for Localization of Objects in 3-D for Robotic Applications

Author

Goncalves Lins, Romulo ; Givigi, Sidney N. ; Gardel Kurka, Paulo Roberto

Author_Institution

Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, ON, Canada

Volume

64

Issue

11

fYear

2015

Firstpage

2950

Lastpage

2958

Abstract

Stereo vision is widely used in many 3-D image applications. In this paper, we present a methodology to estimate the localization of objects in 3-D scenes using collaborative robots. Using this method, the robots are able to measure the location of objects using only a single camera installed on each one of them. From one pair of images, each one acquired by a different robot, the method locates homologous points, and then rebuilds the object by using equations for coordinate transformations. The experimental results validate the application of the proposed method for the measurement of the pose of objects in autonomous robotic applications.

Keywords

cameras; pose estimation; position measurement; robots; transforms; 3D image application; 3D object localization estimation; 3D scene object; autonomous robotic application measurement; coordinate transformation; object localization measurement; pose measurement; single camera; stereo vision; vision-based measurement; Calibration; Cameras; Geometry; Robot kinematics; Robot vision systems; Cooperative systems; image analysis; robot vision system; robots; stereo vision; stereo vision.;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/TIM.2015.2440556

Filename

7155562