There has been much interests on three-dimensional pose estimation of an object since there are a lot of robotic applications such as intelligent robotic assembly and/or vision-guided control of a humanoid or human-friendly robot. In this paper, there are proposed a simple and fast stereo matching algorithm for real-time robotic applications and an improved scheme for feature matching using three-dimensional information by adopting back-projection as a feedback element measuring the degree of feature matching. The degree of feature matching is determined by checking existence ratio of each feature point in real images after back-projecting an object model into image plane. The proposed pose determination algorithm is applied for a humanoid robot in KIST, whose name is CENTAUR, successfully and determine the pose of several polyhedral objects using 3-D information of vertexes on the outline of an object in image plane.
|Number of pages
|Published - Dec 1 1999
|1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999 → Oct 21 1999
|1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
|Kyongju, South Korea
|10/17/99 → 10/21/99
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications