Robust CAD model based visual tracking for 3D microassembly using image space potentials

被引：11

作者：

Yesin, KB ^{[1
]}

Nelson, BJ ^{[1
]}

机构：

[1] ETH, Swiss Fed Inst Technol, Inst Robot & Intelligent Syst, Zurich, Switzerland

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1308096

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A CAD model based visual tracking system for the flexible automation of 3D microassembly processes is presented. The system achieves six degrees-of-freedom tracking of MEMS components in real-time (30 Hz). The experimental results indicate a 1sigma precision of 1.0mum and a positioning accuracy of 2%. A major source of errors in model based tracking is due to ambiguous object configurations with closely spaced edges. We also present a real-time image space potential method that utilizes the readily available model information to reduce these errors and improve tracking robustness.

引用

页码：1868 / 1873

页数：6

共 29 条

[1]

ALLEGRO S, 1996, IEEE INT C IM PROC, V1, P677

[2]

BUERKLE A, 2000, IEEE RSJ INT C INT R, V1, P799

[3] A versatile vision system for micromanipulation tasks [J].

Bürkle, A ;

Schmoeckel, F ;

Wörn, H ;

Amavasai, BP ;

Caparrelli, F ;

Travis, JR .

MFI2001: INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS, 2001, :271-276

[4]

CARCERONI RL, 1997, 659 U ROCH COMP SCI

[5]

CHEN M, 2000, IEEE INT C ROB AUT, V2, P1651

[6]

FATIKOW S, 1996, IEEE C EM TECHN FACT, V2, P586

[7]

Feddema JT, 1998, IEEE INT CONF ROBOT, P1212, DOI 10.1109/ROBOT.1998.677260

[8]

Foley J.D., 1996, Computer graphics: principles and practice

[9]

HOLLIS R, 1998, INT WORKSH MICR TSUK, P9

[10] ANALYSIS OF 3-D ROTATION FITTING [J].

KANATANI, K .

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1994, 16 (05) :543-549

← 1 2 3 →