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Evaluation and Improvement of Global Pose Estimation with Multiple AprilTags for Industrial Manipulators

Nissler, Christian and Büttner, Stefan and Marton, Zoltan-Csaba and Beckmann, Laura and Thomas, Ulrike (2016) Evaluation and Improvement of Global Pose Estimation with Multiple AprilTags for Industrial Manipulators. In: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA). 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 6.-9. Sept. 2016, Berlin, Deutschland. DOI: [10.1109/ETFA.2016.7733711]

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Official URL: http://ieeexplore.ieee.org/document/7733711/

Abstract

Given the advancing importance for light-weight production materials an increase in automation is crucial. This paper presents a prototypical setup to obtain a precise pose estimation for an industrial manipulator in a realistic production environment. We show the achievable precision using only a standard fiducial marker system (AprilTag) and a state-of-the art camera attached to the robot. The results obtained in a typical working space of a robot cell of about 4.5m × 4.5m are in the range of 15mm to 35mm compared to ground truth provided by a laser tracker. We then show several methods of reducing this error by applying state-of-the-art optimization techniques, which reduce the error significantly to less than 10mm compared to the laser tracker ground truth data and at the same time remove existing outliers.

Item URL in elib:https://elib.dlr.de/108850/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation and Improvement of Global Pose Estimation with Multiple AprilTags for Industrial Manipulators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Nissler, ChristianChristian.Nissler (at) dlr.dehttps://orcid.org/0000-0003-4361-9041
Büttner, StefanStefan.Buettner (at) dlr.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.deUNSPECIFIED
Beckmann, LauraUNSPECIFIEDUNSPECIFIED
Thomas, UlrikeUNSPECIFIEDUNSPECIFIED
Date:September 2016
Journal or Publication Title:2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :[10.1109/ETFA.2016.7733711]
Status:Published
Keywords:Pose Estimation Robot vision
Event Title:2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)
Event Location:Berlin, Deutschland
Event Type:international Conference
Event Dates:6.-9. Sept. 2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Nissler, Christian
Deposited On:08 Dec 2016 09:46
Last Modified:31 Jul 2019 20:06

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