Filters








3,673 Hits in 4.5 sec

Vision-guided Robot System for Picking Objects by Casting Shadows

Amit Agrawal, Yu Sun, John Barnwell, Ramesh Raskar
2009 The international journal of robotics research  
We present a complete vision guided robot system for model based 3D pose estimation and picking of singulated 3D objects.  ...  Abstract We present a complete vision guided robot system for model based 3D pose estimation and picking of singulated 3D objects.  ...  We also thank Keisuke Kojima, Jay Thornton and Joseph Katz, along with Haruhisa Okuda and Kazuhiko Sumi, Mitsubishi Electric, Japan for their help and support.  ... 
doi:10.1177/0278364909353955 fatcat:lyg2lppskrfclitb7zsi27mj7q

Visual servoing on unknown objects

Xavi Gratal, Javier Romero, Jeannette Bohg, Danica Kragic
2012 Mechatronics (Oxford)  
Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution.  ...  We study visual servoing in a framework of detection and grasping of unknown objects.  ...  Acknowledgments This work is supported by the EU through the Project GRASP, IST-FP7-IP-215821, Swedish Foundation for Strategic Research and UKF-Unity through Knowledge Fund.  ... 
doi:10.1016/j.mechatronics.2011.09.009 fatcat:ysx4ftndhngvnjyipbudfk264m

Robotic Hand Pose Estimation Based on Stereo Vision and GPU-enabled Internal Graphical Simulation

Pedro Vicente, Lorenzo Jamone, Alexandre Bernardino
2016 Journal of Intelligent and Robotic Systems  
This is achieved by combining stereo vision, proprioception, and a 3D computer graphics model of the robot.  ...  In our work, we propose a novel method to simultaneously i) estimate the pose of the robot hand, and ii) calibrate the robot kinematic model.  ...  In our work we propose a novel computational framework to simultaneously i) estimate the 6D pose of the robot hand and ii) calibrate the kinematic model of the robot arm.  ... 
doi:10.1007/s10846-016-0376-6 fatcat:orxvcnp2gfhvhanktt52a65vky

A Progressive Cut Refinement Scheme for Revision Total Hip Replacement Surgery Using C-arm Fluoroscopy [chapter]

Jianhua Yao, Russell H. Taylor, Randal P. Goldberg, Rajesh Kumar, Andrew Bzostek, Robert Van Vorhis, Peter Kazanzides, Andre Gueziec, J. Funda
1999 Lecture Notes in Computer Science  
field of view; (2) a novel corkscrew fiducial object attached to the robot end-effector was designed, and a 6D pose estimation algorithm based on the 2D projection of the corkscrew is developed and used  ...  in robot-imager registration and imager co-registration; (3) we propose a progressive cut refinement scheme and an iterative cut location algorithm which utilizes image subtraction and 2D anatomy contour  ...  We thank our colleagues from IBM and ISS for their collaboration in all phases of this research.  ... 
doi:10.1007/10704282_110 fatcat:nhfdnwcmdnbgrhakc6bt54ende

A C-Arm Fluoroscopy-Guided Progressive Cut Refinement Strategy Using a Surgical Robot

Jianhua Yao, Russell H. Taylor, Randal P. Goldberg, Rajesh Kumar, Andrew Bzostek, Robert van Vorhis, Peter Kazanzides, Andre Gueziec
2000 Journal of Computer-Aided Surgery  
in the field of view. (2) Also included are a novel corkscrew fiducial object designed to be integrated with the robot end-effector, and a 6D pose estimation algorithm based on the twodimensional (2D)  ...  We describe a new method to cut a precise, high-quality femoral cavity in Revision Total Hip Replacement surgery (RTHR) using a surgical robot and an intra-operative C-arm fluoroscope.  ...  entitled C-arm pose estimation and extrinsic calibration).  ... 
doi:10.3109/10929080009148898 pmid:11295851 fatcat:idaoik5dejeolb6j5pijsq7uxa

A C-arm fluoroscopy-guided progressive cut refinement strategy using a surgical robot

Jianhua Yao, Russell H. Taylor, Randal P. Goldberg, Rajesh Kumar, Andrew Bzostek, Robert Van Vorhis, Peter Kazanzides, Andre Gueziec
2000 Journal of Computer-Aided Surgery  
in the field of view. (2) Also included are a novel corkscrew fiducial object designed to be integrated with the robot end-effector, and a 6D pose estimation algorithm based on the twodimensional (2D)  ...  We describe a new method to cut a precise, high-quality femoral cavity in Revision Total Hip Replacement surgery (RTHR) using a surgical robot and an intra-operative C-arm fluoroscope.  ...  entitled C-arm pose estimation and extrinsic calibration).  ... 
doi:10.1002/igs.1000 pmid:11295851 fatcat:dij3f63eerelnc677nl3y77p3e

Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object

Krittin Pachtrachai, Max Allan, Vijay Pawar, Stephen Hailes, Danail Stoyanov
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In a robot mounted camera arrangement, handeye calibration estimates the rigid relationship between the robot and camera coordinate frames.  ...  the robot to compute the hand-eye transformation.  ...  ACKNOWLEDGEMENT We would like to thank Simon Di Maio and Mahdi Azizian at Intuitive Surgical, CA for providing us with CAD models of the instrument and the DVRK community for their support.  ... 
doi:10.1109/iros.2016.7759387 dblp:conf/iros/PachtrachaiAPHS16 fatcat:ruuzhuu6jvggnohx4q44bymb4i

Pose estimation in heavy clutter using a multi-flash camera

Ming-Yu Liu, Oncel Tuzel, Ashok Veeraraghavan, Rama Chellappa, Amit Agrawal, Haruhisa Okuda
2010 2010 IEEE International Conference on Robotics and Automation  
We implemented the algorithm on an industrial robot arm and obtained location and angular estimation accuracy of the order of 1 mm and 2 • respectively for a variety of parts with minimal texture.  ...  Finally, we also propose a multi-view based pose-refinement algorithm to improve the estimated pose.  ...  For each view, the estimated pose of the object was transformed to the world coordinate frame using knowledge of the position and orientation of the robot arm.  ... 
doi:10.1109/robot.2010.5509897 dblp:conf/icra/LiuTVCAO10 fatcat:ikx3sf6jivez5dcbqe5agvr2uu

Robot-Assisted Distal Locking of Long Bone Intramedullary Nails: Localization, Registration, and In Vitro Experiments [chapter]

Ziv Yaniv, Leo Joskowicz
2004 Lecture Notes in Computer Science  
We are developing an image-guided robot-based system to assist orthopaedic surgeons in performing distal locking of long bone intramedullary nails.  ...  Tests of 17 runs show a mean angular error of 1.3 o (std = 0.4 o ) between the computed drill guide axes and the actual locking holes axes, and a mean 3.0mm error (std = 1.1mm) in the entry and exit drill  ...  We placed the robot in 17 random poses, acquired fluoroscopic X-ray images for each pose, and computed the robot alignment transformation for each pose (in all cases, the drill guide target and nail holes  ... 
doi:10.1007/978-3-540-30136-3_8 fatcat:sxfx4iy24ncr3pzxyewxgglyxa

Online Body Schema Adaptation Based on Internal Mental Simulation and Multisensory Feedback

Pedro Vicente, Lorenzo Jamone, Alexandre Bernardino
2016 Frontiers in Robotics and AI  
Then, we show how the use of high-performance GPU programing and an edge-based algorithm for visual perception allow for real-time implementation in real-world scenarios.  ...  The body schema consists of a computer graphics simulation of the robot, which includes the arm and head kinematics (adapted online during the movements) and an appearance model of the hand shape and texture  ...  The work by Gratal et al. (2011) proposes a 3D-model based approach and an edge based error function to estimate the pose of the Schunk Dexterous Hand.  ... 
doi:10.3389/frobt.2016.00007 fatcat:wiezcd7yn5cspmnjvc4qj6du7e

Object modeling using a ToF camera under an uncertainty reduction approach

Sergi Foix, Guillem Alenyà, Juan Andrade-Cetto, Carme Torras
2010 2010 IEEE International Conference on Robotics and Automation  
We propose a method to compute the covariance of the registration process, and apply an iterative state estimation method to build object models under noisy conditions.  ...  In this work, we take into account both uncertainty sources (in images and camera poses) to generate spatially consistent 3D object models fusing multiple views with a probabilistic approach.  ...  Teniente for early implementations of the ICP algorithm and insightful discussions on ICP covariance propagation and R. Valencia for providing us with his view-based SLAM code.  ... 
doi:10.1109/robot.2010.5509197 dblp:conf/icra/FoixAAT10 fatcat:pqxdlobuv5deplo2g7dthbmetq

Using visual and auditory feedback for instrument-playing humanoids

Daniel Maier, Ramin Zohouri, Maren Bennewitz
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
The core of our approach is a model-based method to estimate the pose of the instrument and the beaters held by the robot using observations from the onboard camera.  ...  For accurate playing, we calibrate the kinematic parameters of the robot and find valid configurations of the arms for beating the individual sound bars of the instrument.  ...  INVERSE KINEMATICS AND BEATING Based on the estimated pose of the instrument, the beaters' heads, and the calibrated kinematic model, our system computes for each sound bar a suitable beating configuration  ... 
doi:10.1109/humanoids.2014.7041477 dblp:conf/humanoids/MaierZB14 fatcat:rgwsu7buyjbnvdzrkowfsh7v2q

Using Colour-based Object Detection for Pick and Place Applications [chapter]

Moritz Abdank, Mohamed Aburaia, Wilfried Woeber
2021 DAAAM Proceedings  
This paper demonstrates a computer vision system which uses a colour-based approach to object detection and estimation of its 3D world coordinates based on a 2D image.  ...  The retrieved information from those operations is used for the 3D pose estimation. Using a linear calibration, the error of the system can be reduced, which results in an accuracy of 0.09cm.  ...  Acknowledgments This work was supported by the city of Vienna (MA23 -Economic Affairs, Labour and Statistics) through the research project AIAV (MA23 project 26-04)  ... 
doi:10.2507/32nd.daaam.proceedings.077 fatcat:vbkvdndayje4voojawpaov3nui

Vision Based Robotic Navigation: Application to Orthopedic Surgery [chapter]

P. Gamage, S. Q., P. Delmas, W. L.
2010 Robot Vision  
Since the internal camera parameters are required for robot pose estimation, the c-arm must be calibrated.  ...  Closed loop un-calibrated methods guide the robot to the desired pose based solely on the acquired images.  ...  The purpose of robot vision is to enable robots to perceive the external world in order to perform a large range of tasks such as navigation, visual servoing for object tracking and manipulation, object  ... 
doi:10.5772/9302 fatcat:unraijfdsve6riyu5r2yfxduzm

3D Laser Scanner for Underwater Manipulation

Albert Palomer, Pere Ridao, Dina Youakim, David Ribas, Josep Forest, Yvan Petillot
2018 Sensors  
or the recognition and location of objects based on their 3D model to grasp them.  ...  In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation.  ...  For each projection plane π p i , an estimate (π p i ) of the plane, as well as an estimate of its pose (t i ) are computed using a visual pattern placed on it.  ... 
doi:10.3390/s18041086 pmid:29617303 pmcid:PMC5948579 fatcat:c6ro5ddr2bbljilfnk6ovqlegy
« Previous Showing results 1 — 15 out of 3,673 results