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.
Item URL in elib: | https://elib.dlr.de/45170/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing. | ||||||||||||
Authors: |
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Date: | 9 October 2006 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 27 Feb 2007 | ||||||||||||
Last Modified: | 31 Jul 2019 19:18 |
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