Real-time pose estimation of an object manipulated by multi-fingered hand using 3D stereo vision and tactile sensing
Real-time pose estimation of an object manipulated by multi-fingered hand using 3D stereo vision and tactile sensing
复制标题
使用 3D 立体视觉和触觉感知对多指手操纵的物体进行实时姿态估计
DOI：
10.1109/iros.1998.724860
复制
发表时间：
1998
期刊：
影响因子：
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通讯作者：
T. Matsuoka
中科院分区：
文献类型：
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作者：
K. Honda;T. Hasegawa;T. Kiriki;T. Matsuoka
我们描述了一个实时的基于模型的传感系统来估计一个多指手在现实环境中操纵的物体的姿态。该系统使用最小二乘法来估计姿态，假设物体和指尖的近似初始姿态和几何形状是已知的。采用模板匹配方法，利用立体摄像机进行视觉跟踪，实现了物体表面特征的三维测量。用于视觉跟踪的主要特征是物体表面上可区分的纹理图案。在复杂的环境中，由于各种遮挡，视觉跟踪可能会失败。该系统通过检测遮挡，利用指尖的接触信息和三维视觉信息来解决遮挡问题。对系统的实际实现进行了说明，并给出了系统跟踪的稳定性、估计的准确性和处理时间的实验结果。
We describe a real-time model-based sensing system to estimate the pose of an object manipulated by a multifingered hand in a realistic environment. The system uses the least-squares method to estimate the pose, on the assumption that the approximate initial pose and geometric shapes of the object and fingertips are known. 3D measurement of features on the surface of the object is achieved by visual tracking with stereo camera using a template matching method. The primary features used for visual tracking are distinguishable texture patterns on the object surface. In complex environments, visual tracking can be failed due to the various occlusion. The system solves the occlusion problem by detecting the occlusion and using contact information of fingertips with the 3D visual information. Actual implementation of the system is explained together with results of experiments about the stability of tracking, the accuracy of estimation, and the processing time of the system.
手指状触觉传感器的开发
DOI：
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发表时间：
2011
期刊：
2011 International Symposium on Computational Models for Life Science
影响因子：
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作者：
Yuko Akikawa;Yuka Koda;Naoki Saiwaki;Natsuki Komoda;Katsuaki Suganuma;Yasutoshi Makino and Takashi Maeno
通讯作者：
Yasutoshi Makino and Takashi Maeno