Real-time Pose Estimation of an Object Grasped by a Multi-fingered Hand by Using Sensory Fusion of Visual and Tactile Information

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  • 多関節多指ハンドのための操作対象の位置と姿勢のセンシング-視覚情報と接触情報の融合-
  • 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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Abstract

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.

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