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Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing.

Sepp, Wolfgang and Fuchs, Stefan and Hirzinger, Gerhard (2006) Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing. In: Proceedings, pp. 4310-4315. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

Classical position-based visual servoing approaches rely on the presence of distinctive features in the image such as corners and edges. In this contribution we exploit a hierarchical approach for object detection, initial-pose estimation, and realtime tracking based first on colour distribution and subsequently on the shape and texture information. The shape model of the object is not limited to surface primitives but allow for any free-form surface not subject to self-occlusion. We evaluate the approach as part of a handshake scenario where a 7-DoF robot takes a free moving object over from a human.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing.
Authors:
AuthorsInstitution or Email of Authors
Sepp, WolfgangUNSPECIFIED
Fuchs, StefanUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 4310-4315
Publisher:IEEE/IROS International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Hierarchical Featureless Tracking, Visual Servoing
Event Title:RSJ
Event Location:Beijing, China
Event Type:international Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:27 Feb 2007
Last Modified:12 Dec 2013 20:21

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