Design of an artificial mark to determine 3D pose by monocular vision

The design for an artificial mark attached to small objects is presented in this paper. Three conditions are required for the design of the marks: (1) short calculation time, (2) easy attachment, and (3) individual calculation for each item. The marks are obtained by using three different extraction methods. The experiments determine the best mark. The mark using the method that extract colors and calculated the gravity has good results. We analyze the errors of the mark that has best experiment. The appropriateness of the experimental results is then confirmed. We have the experiment that the manipulator handles the objects with the best mark. The experiment is successful. Therefore, the usability of the mark is verified.

[1]  R Katsuki,et al.  Teaching through interaction between non-professional user and robot , 2004 .

[2]  Takeshi Shakunaga,et al.  Perspective angle transform: Principle of shape from angles , 1989, International Journal of Computer Vision.

[3]  Avinash C. Kak,et al.  Vision for Mobile Robot Navigation: A Survey , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[4]  J. Reynolds,et al.  RGR-3D: simple, cheap detection of 6-DOF pose for teleoperation, and robot programming and calibration , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[5]  Robert M. Haralick,et al.  Analysis and solutions of the three point perspective pose estimation problem , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[6]  Yeshaiahu Fainman,et al.  Estimation of the absolute position of mobile systems by an optoelectronic processor , 1992, IEEE Trans. Syst. Man Cybern..

[7]  Jun Ota,et al.  Handling of objects with marks by a robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[8]  Robert M. Haralick,et al.  Review and analysis of solutions of the three point perspective pose estimation problem , 1994, International Journal of Computer Vision.

[9]  Jun Ota,et al.  Environmental support method for intelligent robots - movement decision method of robots based on reliability and trial time , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Homer H. Chen.  Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  Álvaro Enrique Arenas,et al.  Position verification of a mobile robot using standard pattern , 1987, IEEE Journal on Robotics and Automation.

[12]  Masaharu Takano,et al.  Recognition and Handling of Tableware by Using a Robot Based on RECS Concept , 2000 .