Figure 12 - uploaded by Zhi-Qiang Liu
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The camera and model coordinate systems degrees clockwise about the Z axis. The camera coordinate system views the object with a 90 degree rotation clockwise about the Z axis, followed by a translation of T z along the new Z axis, T y along the new Y axis, and T x along the new X axis.
Source publication
In this report, we propose a system for vision guided autonomous circumnavigation, allowing robots to navigate around objects of arbitrary pose. The system performs model-based object/view recognition from an intensity image using a canonical viewer-centred model. A path planned from a geometric model guides the robot in circumnavigating the object...
Citations
In this paper, we present a method for deriving and executing a collision-free path to allow a vision-guided robot to navigate safely around a known object. This method has been integrated into our autonomous navigation system, which allows a mobile robot to navigate around and, interact with objects of arbitrary pose and position. This method reduces the risk of collision with the object by restricting robot movements based on a lower bound estimate of its distance to the object. The distance estimate is derived from a single camera image. We also present a simple algebraic method for estimating the relative pose and position of the object. The integrated system can be used in applications where robots have to recognise and manipulate objects of unknown pose and placement. Such applications occur in contexts such as factory automation, underwater exploration, space exploration and nuclear power station maintenance. 1. INTRODUCTION In this paper, we describe a system which enables an...
. In this paper, we propose a system for vision guided autonomous circumnavigation, allowing robots to navigate around objects of arbitrary pose. The system performs knowledge-based object recognition from an intensity image using a canonical viewer-centred model. A path planned from a geometric model then guides the robot in circumnavigating the object. This system can be used in many applications where robots have to recognize and manipulate objects of unknown pose and placement. Such applications occur in a variety of contexts such as factory automation, underwater and space exploration, and nuclear power station maintenance. We also define a canonical-view graph to model objects, which is a viewer-centred representation. 1 Introduction In this paper we describe an autonomous robot system which is able to navigate around a given object. This circumnavigating system provides greater flexibility for robots that need to interact with objects, because only a model of the object is requ...
