3-D Position Detection of Partner Robot using SURF Descriptor and Voting Method for Indirect Cooperation Between Multiple Robots

Toyomi Fujita, Kento Yamada

Abstract

In some practical work by robots, it may happen that a working robot can not detect a target object for handling due to a sensor occlusion. In this situation, if another cooperative robot observes the working robot with the target object and detects their positions and orientations, it will be possible for the working robot to complete the handling task. Such behavior is a kind of indirect cooperation. This study considers a method for such an indirect cooperation based on an observation by the partner robot. The observing robot will be able to perform such a cooperation by obtaining feature points and corresponding points on the working robot with hand and the target object from multiple captured images, then computing 3-D positions of the targets and motion of the hand. In this study, we mainly focus on 3-D position detection of the working robot and try applying SURF (Speeded Up Robust Features) descriptor and a voting method for detecting the feature points and corresponding points. The 3-D position of the working robot is then computed from these corresponding points based on stereo vision theory. Fundamental experiments confirmed the validity of presented method.

References

  1. Bay, H., Ess, A., Tuytelaars, T., and Van Gool, L. (2008). Speeded-up robust features (surf). Computer Vision and Image Understanding, 110(3):346-359.
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  3. Mobile Robots Pioneer P3-DX http://www.mobilerobots.com.
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Paper Citation


in Harvard Style

Fujita T. and Yamada K. (2016). 3-D Position Detection of Partner Robot using SURF Descriptor and Voting Method for Indirect Cooperation Between Multiple Robots . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 522-525. DOI: 10.5220/0006008905220525


in Bibtex Style

@conference{icinco16,
author={Toyomi Fujita and Kento Yamada},
title={3-D Position Detection of Partner Robot using SURF Descriptor and Voting Method for Indirect Cooperation Between Multiple Robots},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={522-525},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006008905220525},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - 3-D Position Detection of Partner Robot using SURF Descriptor and Voting Method for Indirect Cooperation Between Multiple Robots
SN - 978-989-758-198-4
AU - Fujita T.
AU - Yamada K.
PY - 2016
SP - 522
EP - 525
DO - 10.5220/0006008905220525