An Object Detection and Pose Estimation Approach for Position Based Visual Servoing
In this paper, an object recognition method and a pose estimation approach using stereo vision is presented. The proposed approach was used for position based visual servoing of a 6 DoF manipulator. The object detection and recognition method was designed with the purpose of increasing robustness. A...
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| Format: | Article |
| Language: | English |
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Sciendo
2017-07-01
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| Series: | Electrical, Control and Communication Engineering |
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| Online Access: | https://doi.org/10.1515/ecce-2017-0005 |
| _version_ | 1818191963128594432 |
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| author | Shi Lei |
| author_facet | Shi Lei |
| author_sort | Shi Lei |
| collection | DOAJ |
| description | In this paper, an object recognition method and a pose estimation approach using stereo vision is presented. The proposed approach was used for position based visual servoing of a 6 DoF manipulator. The object detection and recognition method was designed with the purpose of increasing robustness. A RGB color-based object descriptor and an online correction method is proposed for object detection and recognition. Pose was estimated by using the depth information derived from stereo vision camera and an SVD based method. Transformation between the desired pose and object pose was calculated and later used for position based visual servoing. Experiments were carried out to verify the proposed approach for object recognition. The stereo camera was also tested to see whether the depth accuracy is adequate. The proposed object recognition method is invariant to scale, orientation and lighting condition which increases the level of robustness. The accuracy of stereo vision camera can reach 1 mm. The accuracy is adequate for tasks such as grasping and manipulation. |
| first_indexed | 2024-12-12T00:22:57Z |
| format | Article |
| id | doaj.art-722f8d1c2b604feb98c21d7d097265dd |
| institution | Directory Open Access Journal |
| issn | 2255-9159 |
| language | English |
| last_indexed | 2024-12-12T00:22:57Z |
| publishDate | 2017-07-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Electrical, Control and Communication Engineering |
| spelling | doaj.art-722f8d1c2b604feb98c21d7d097265dd2022-12-22T00:44:41ZengSciendoElectrical, Control and Communication Engineering2255-91592017-07-01121343910.1515/ecce-2017-0005ecce-2017-0005An Object Detection and Pose Estimation Approach for Position Based Visual ServoingShi Lei0MSc Student, Tallinn University of TechnologyIn this paper, an object recognition method and a pose estimation approach using stereo vision is presented. The proposed approach was used for position based visual servoing of a 6 DoF manipulator. The object detection and recognition method was designed with the purpose of increasing robustness. A RGB color-based object descriptor and an online correction method is proposed for object detection and recognition. Pose was estimated by using the depth information derived from stereo vision camera and an SVD based method. Transformation between the desired pose and object pose was calculated and later used for position based visual servoing. Experiments were carried out to verify the proposed approach for object recognition. The stereo camera was also tested to see whether the depth accuracy is adequate. The proposed object recognition method is invariant to scale, orientation and lighting condition which increases the level of robustness. The accuracy of stereo vision camera can reach 1 mm. The accuracy is adequate for tasks such as grasping and manipulation.https://doi.org/10.1515/ecce-2017-0005object recognitionpose estimationstereo visionvisual servoing |
| spellingShingle | Shi Lei An Object Detection and Pose Estimation Approach for Position Based Visual Servoing Electrical, Control and Communication Engineering object recognition pose estimation stereo vision visual servoing |
| title | An Object Detection and Pose Estimation Approach for Position Based Visual Servoing |
| title_full | An Object Detection and Pose Estimation Approach for Position Based Visual Servoing |
| title_fullStr | An Object Detection and Pose Estimation Approach for Position Based Visual Servoing |
| title_full_unstemmed | An Object Detection and Pose Estimation Approach for Position Based Visual Servoing |
| title_short | An Object Detection and Pose Estimation Approach for Position Based Visual Servoing |
| title_sort | object detection and pose estimation approach for position based visual servoing |
| topic | object recognition pose estimation stereo vision visual servoing |
| url | https://doi.org/10.1515/ecce-2017-0005 |
| work_keys_str_mv | AT shilei anobjectdetectionandposeestimationapproachforpositionbasedvisualservoing AT shilei objectdetectionandposeestimationapproachforpositionbasedvisualservoing |