Abstract
In this paper, a novel and simple approach for tracking the object pose, position and orientation, using two object points when the object is rotated about one of the axes of the reference coordinate system is presented. The object rotation angle can be tracked up to a range of 180° for object rotations around each axis of the reference coordinate system from an initial object situation. The considered two object points are arbitrary points of the object which can be uniquely identified in stereo images. Since the approach requires only two object points, it is advantageous for the robotic applications where very few feature points can be obtained because of lack of pattern information on the objects. The paper also presents the results for the pose estimation of a meal tray in a rehabilitation robotics environment.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Hutchinson, S., Hager, G., Corke, P.: A Tutorial on Visual Servo Control. IEEE. Trans. Robo. Auto. 12, 651–670 (1996)
Peter, I.C.: Visual Control of Robots. Research Studies Press Ltd, England (1996)
Garric, V., Devy, M.: Evaluation of the Calibration and Localization Methods for Visually Guided Grasping. In: International Conference on Intelligent Robots and Systems, pp. 387–393. IEEE Press, Pittsburgh (1995)
Yuan, J.S.C.: A General Photogrammetric Method for Determining Object Position and Orientation. IEEE. Robo. Auto. 5, 129–142 (1989)
A flexible New Technique for Camera Calibration. IEEE Trans. Pat. Anal. Mac Inte. 22, 1330–1334 (2000)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge Univ. Press, Cambridge (2000)
Lowe, D.G.: Three-dimensional Object Recognition From Single Two-dimensional Images. Arti. Inte. 31, 355–395 (1987)
Horaud, R., Conio, B., Leboulleux, O., Lacolle, B.: An Analytic Solution for the Perspective 4-Point Problem. In: Computer Vision and Pattern Recognition, pp. 500–507. IEEE Press, San Diego (1989)
Yoon, Y., DeSouza, G.N., Kak, A.C.: Real-time Tracking and Pose Estimation for Industrial Objects using Geometric Features. In: Proceedings of the Int. Conference in Robotics and Automation, pp. 3473–3478. IEEE Press, Taiwan (2003)
Orthographic Projection, http://www.geneng.mtu.edu/courses/3000/current/07.spac.vis2.pdf
Ivlev, O., Martens, C., Graeser, A.: Rehabilitation Robots FRIEND-I and FRIEND-II with the Dexterous Lightweight Manipulator. Rest. Whee. Mobi. SCI. Reha. 17, 111–123 (2005)
Volosyak, I., Ivlev, O., Grser, A.: Rehabilitation Robot FRIEND II - The General Concept and Current Implementation. In: Proc. 9th International Conference on Rehabilitation Robotics, Chicago, pp. 540–544 (2005)
Point Grey Research, http://www.ptgrey.com/products/stereo.asp
Crane, C., Duffy, D., Kinematic Analysis, J.: of Robot Manipulators. Cambridge University Press, Cambridge (1998)
Pearson’s Correlation Coefficient, http://hsc.uwe.ac.uk/dataanalysis/quantInfAssPear.asp
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Vuppala, S.K., Gräser, A. (2008). An Approach for Tracking the 3D Object Pose Using Two Object Points. In: Gasteratos, A., Vincze, M., Tsotsos, J.K. (eds) Computer Vision Systems. ICVS 2008. Lecture Notes in Computer Science, vol 5008. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79547-6_25
Download citation
DOI: https://doi.org/10.1007/978-3-540-79547-6_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-79546-9
Online ISBN: 978-3-540-79547-6
eBook Packages: Computer ScienceComputer Science (R0)