書誌事項
- タイトル別名
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- Real-time Pose Estimation of an Object Grasped by a Multi-fingered Hand by Using Sensory Fusion of Visual and Tactile Information
- タカンセツ タシ ハンド ノ タメ ノ ソウサ タイショウ ノ イチ ト シセ
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We describe a real-time system to estimate the pose of an object manipulated by a multi-fingered hand in a realistic environment. The system uses least-squares technique to estimate the pose, on the assumption that the initial pose and the geometric shape of the object and each fingertip are known. The 3D data of object's surface is obtained by visual tracking with stereo camera using a template matching method. The primary features used for tracking are distinguisable texture patterns on object's surface. In complex environments, visual tracking can be failed due to the various occlusion. The system solves the occlusion problem by detecting occlusion and using contact information of fingertips with the 3D visual information. Actual implemetation of the system applied to the task of a multi-fingered hand is explained together with results of experiments about the stability of tracking, the accuracy of estimation, and the processing time of the system.
収録刊行物
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- 電気学会論文誌C(電子・情報・システム部門誌)
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電気学会論文誌C(電子・情報・システム部門誌) 118 (9), 1340-1346, 1998
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679585108736
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- NII論文ID
- 130006844160
- 10002814954
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 4548613
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- データソース種別
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- JaLC
- NDL
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