Real-time 3D model-based tracking of work-piece with monocular camera
Zhu, Wenjun; Wang, Peng; Li, Fudong; Su, Jianhua; Qiao, Hong; Zhu, WJ
2015
Conference Name8th IEEE/SICE International Symposium on System Integration (SII)
Source Publication2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)
Conference DateDEC 11-13, 2015
Conference PlaceMeijo Univ, Nagoya, JAPAN
AbstractThe tracking of 3D work pieces with real-time speed is becoming more and more important for some industrial tasks, such as work pieces grasping and assembly, especially in complex environment. In this paper, we propose a novel real-time 3D model-based tracking method for work pieces withmonocular camera, which can provide accurate 3D location information of the tracking object continuously. Three processes are designed in the proposed method, i.e., the offline global model library generation process, the online dynamic library updating and selection process, and the 3D work piece localization process. The method is suitable for the texture-less work-pieces in industrial applications. In the offline global model library generation process, the CAD models of the work pieceare used to generate a set of discrete 2D views matching libraries. In the online dynamic library updating and selection process, the previous 3D location information of the work piece is used to predict the following location range, and a dynamic discrete views library with a small number of models is selected for localization. Then, the work piece is localized with high-precision and real time speed in the 3D work piece localization process. The small range of the library enables a real-time matching. Experimental results demonstrate the high accuracy and high efficiency of the proposed method.
KeywordObject Recognition Features Pose
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12844
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorZhu, WJ
Recommended Citation
GB/T 7714
Zhu, Wenjun,Wang, Peng,Li, Fudong,et al. Real-time 3D model-based tracking of work-piece with monocular camera[C],2015.
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