6-DOF object localization by combining monocular vision and robot arm kinematics
2017pp. 6575–6580
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Abstract
A robot needs to localize an unknown object before grasping it. When the robot only has a monocular sensor, how can it get the object pose? In this work, we present a method of localizing the 6-DOF pose of a target object using a robotic arm and a hand-mounted monocular camera. The method includes an object recognition and a localization process. The recognition process uses point features on a surface of the target as a model of the object. The object localization process combines the robotic motion data and image data to calculate the 6-DOF pose of the object. This method can process objects containing textured planes. We verify the method in real tests.
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