Authors:
Markus Heber
;
Matthias Rüther
and
Horst Bischof
Affiliation:
Graz University of Technology, Austria
Keyword(s):
Mirror symmetry, Object pose, Contour matching, Industrial application.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Computer Vision, Visualization and Computer Graphics
;
Image Formation and Preprocessing
;
Motion, Tracking and Stereo Vision
;
Multi-View Geometry
;
Visually Guided Robotics
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.