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IJRR
2010

Vision-guided Robot System for Picking Objects by Casting Shadows

8 years 5 months ago
Vision-guided Robot System for Picking Objects by Casting Shadows
We present a complete vision guided robot system for model based 3D pose estimation and picking of singulated 3D objects. Our system employs a novel vision sensor consisting of a video camera surrounded by eight flashes (light emitting diodes). By capturing images under different flashes and observing the shadows, depth edges or silhouettes in the scene are obtained. The silhouettes are segmented into different objects and each silhouette is matched across a database of object silhouettes in different poses to find the coarse 3D pose. The database is pre-computed using a Computer Aided Design (CAD) model of the object. The pose is refined using a fully projective formulation [ACB98] of Lowe's model based pose estimation algorithm [Low91, Low87]. The estimated pose is transferred to robot coordinate system utilizing the handeye and camera calibration parameters, which allows the robot to pick the object. Our system outperforms conventional systems using 2D sensors with intensity-b...
Amit Agrawal, Yu Sun, John Barnwell, Ramesh Raskar
Added 18 May 2011
Updated 18 May 2011
Type Journal
Year 2010
Where IJRR
Authors Amit Agrawal, Yu Sun, John Barnwell, Ramesh Raskar
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