Name
Abstract | ||
|---|---|---|
In this paper we present a 3D tracking system that is able to identify several characteristic points on the surface of a moving scene. The system is considered as a preliminary step in the interaction of industrial robots with dynamic scenes. Through a new color structured light technique based on a disordered codeword pattern, 3D coordinates of the object surface are extracted and processed. This method recovers 3D information in such a way that the correspondence problem is easily and robustly solved. After establishing a set of feature points, an inter frame window search algorithm is carried out to solve the tracking problem. A controlled experimental setup has been built in our lab composed by a 2 DOF mobile platform, a light structured sensor and a manipulator robot. The experimentation has been performed on medium spatial resolution and for soft movement specifications giving promising results. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/CRV.2005.1 | CRV |
Keywords | Field | DocType |
3d tracking system,light structured sensor,tracking problem,lighting,feature tracking,dynamic scene,dynamic structured light system,soft movement specification,object surface,2 dof mobile platform,controlled experimental setup,light technique,correspondence problem,dof mobile platform,feature extraction,interframe window search,characteristic point,tracking,industrial robots,object surface 3d coordinates,manipulator robot,disordered codeword pattern,3d feature tracking,color,tracking system,robot kinematics,mobile robots,robustness,data mining,structured light,layout,search algorithm,spatial resolution | Computer vision,Search algorithm,Structured light,Pattern recognition,Computer science,Tracking system,Feature extraction,Artificial intelligence,Inter frame,Robot,Correspondence problem,Image resolution | Conference |
ISBN | Citations | PageRank |
0-7695-2319-6 | 8 | 0.56 |
References | Authors | |
10 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Antonio Adan | 1 | 50 | 3.75 |
| Fernando Molina | 2 | 8 | 0.56 |
| Andrés S. Vázquez | 3 | 82 | 10.75 |
| Luis Morena | 4 | 15 | 1.27 |