CATADIOPTRIC MULTIVIEW POSE ESTIMATION FOR ROBOTIC PICK AND PLACE

Markus Heber, Matthias Rüther, Horst Bischof

2010

Abstract

Robotic handling of objects requires exact knowledge of the object pose. In this work, we propose a novel vision system, allowing robust and accurate pose estimation of objects, which are grasped and held in unknown pose by an industrial manipulator. For superior robustness, we solely rely on object contour as a visual cue. We address the apparent problems of object symmetry and ambiguous perspective by acquiring multiple views of the object cheaply and accurately, through a mirror system. Self-calibration of the mirror setup allows us to model the mirror geometry and perform metric multiview contour matching with a known 3D model.

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Paper Citation


in Harvard Style

Heber M., Rüther M. and Bischof H. (2010). CATADIOPTRIC MULTIVIEW POSE ESTIMATION FOR ROBOTIC PICK AND PLACE . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 423-426. DOI: 10.5220/0002822704230426


in Bibtex Style

@conference{visapp10,
author={Markus Heber and Matthias Rüther and Horst Bischof},
title={CATADIOPTRIC MULTIVIEW POSE ESTIMATION FOR ROBOTIC PICK AND PLACE},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={423-426},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002822704230426},
isbn={978-989-674-028-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - CATADIOPTRIC MULTIVIEW POSE ESTIMATION FOR ROBOTIC PICK AND PLACE
SN - 978-989-674-028-3
AU - Heber M.
AU - Rüther M.
AU - Bischof H.
PY - 2010
SP - 423
EP - 426
DO - 10.5220/0002822704230426