A model-based approach for visual guided grasping with uncalibrated system components

In this paper, a complete framework for the task of grasping a naturally textured object is being presented. The lack of calibration in the components of the eye-in-hand system is overcome by an image trajectory based visual servoing scheme (ITBVS). Using an object model reconstructed off-line, cons...

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Bibliographic Details
Main Authors: Hornung, O., Heimann, B.
Format: Conference Proceeding
Language:English
Subjects:
Calibration
Cameras
grasping
Image reconstruction
image trajectory
Layout
Manipulators
Mechatronics
model-based
Robot sensing systems
Robot vision systems
Service robots
Visual servoing
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Description
Summary:In this paper, a complete framework for the task of grasping a naturally textured object is being presented. The lack of calibration in the components of the eye-in-hand system is overcome by an image trajectory based visual servoing scheme (ITBVS). Using an object model reconstructed off-line, consecutive rough pose estimation and refinement of the estimate by scale optimized 3D model to object registration solves the feature correspondence problem in the absence of artificial landmarks. Experimental results using a zoom camera and a 7-DOF serial manipulator prove the effectiveness of the approach.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545598