Active 6-D position-pose estimation of a spatial circle using monocular eye-in-hand system. (19th January 2018)

• Record Type: Journal Article
• Authors: Ma, Xin; Feng, Junbing; Li, Yibin; Tan, Jindong
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 1(2018:Jan./Feb.)
• Publication Date: 2018-01-19
• Subjects: Position estimation -- pose estimation -- monocular eye-in-hand system -- active movement -- spatial circle; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417753692
• Languages: English
• ISSNs: 1729-8806

Abstract

Nuts and bolts are common components in assembly lines. Their position and pose estimation is a vital step for automatic assembling. Although many approaches using a monocular camera have been proposed, few works consider a monocular camera's active movements for improving estimation accuracy. This article presents an active movement strategy for a monocular eye-in-hand camera for high position and pose estimation accuracy of a spatial circle. Extensive experiments are conducted to validate the effectiveness of the proposed method for position and pose estimation of circles printed on paper, real circular flat washers, and nuts.