Font Size: a A A

Three Dimensional Pose Estimation Based On Eye-in-Hand System

Posted on:2018-02-15Degree:MasterType:Thesis
Country:ChinaCandidate:C Q YeFull Text:PDF
GTID:2428330596488826Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
This paper describes our latest research achievements in three dimensional pose estimation based on eye-in-hand system.We analyze the multiple pose recognition results which produced by the vision system to obtain recognition results with higher accuracy.The main contents of this paper are as follows:(1)We propose a fast hierarchical search strategy based on the basic template matching procedure in LINEMOD algorithm to reconcile the conflict between the precision of initial estimated pose and the number of templates.With this strategy,we can find the template that is most consistent to the ground truth in a hierarchical way rather than go through all templates in the dataset one by one,which benefits us for significantly shortening the runtime required in template matching and helps us to estimate object pose more precisely in a larger template database without the loss of real-time performance.(2)The surround observation strategy and optimizing method for multiple pose recognition results are proposed.We control the industrial robot to revolve around the object and optimize the multiple pose recognition results.With this control strategy,we can estimate the object pose from multiple directions even though the object stands at an unfriendly pose.We use the 3? criterion to eliminate the false estimated pose and calculate the average of the true estimated poses as the final pose recognition result.The experimental result shows that the pose recognition accuracy has been significantly improved by using the surround observation strategy and optimizing method for multiple pose recognition results.(3)We design an object grabbing experiment to verify the effectiveness of the overall framework.The hardware system configuration and software architecture of the object grabbing experiment are introduced in detail.We establish an eye-in-hand system to pick up three-hole PVC tube automatically.The experimental result shows that the basic theory and methods of three dimensional pose estimation proposed in this paper is feasible and effective.
Keywords/Search Tags:pose estimation, eye-in-hand system, template matching, recognition and localization
PDF Full Text Request
Related items