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Robust pose estimation with the stereoscopic camera in harsh environment

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationElectronic Imaging
Subtitle of host publicationDigitization Preservation, and Access April 17-20, 2018, Washington, DC, USA
PublisherIS&T/SPIE
DOIs
Publication statusPublished - 28 Jan 2018
Publication typeA4 Article in a conference publication
EventIS&T International Symposium on Electronic Imaging -
Duration: 1 Jan 2000 → …

Publication series

Name
ISSN (Electronic)2470-1173

Conference

ConferenceIS&T International Symposium on Electronic Imaging
Period1/01/00 → …

Abstract

Remote teleoperation of robotic manipulators requires a robust machine vision system in order to perform accurate movements in the navigated environment. Even though a 3D CAD model can be available, the dimensions and poses of its compo-nents are subject to changes due to extreme conditions. Integration of stereoscopic camera into the control chain enables a more precise object detection, pose-estimation and tracking. However, the conventional stereoscopic pose-estimation methods still lack robustness and accuracy in the presence of harsh-environment conditions, such as high-dose of radiation, deficient illumination, shiny metallic surfaces, etc. In this paper we investigate capability of a specifically tuned Iterative Closest Point (ICP) algorithm to operate in the aforementioned environments and suggest algorithmic improvements. We demonstrate that proposed algorithm outperforms current state-of-the-art methods in both robustness and accuracy. The experiments are performed with a real robotic manipulator prototype and a stereoscopic machine vision system.

Keywords

  • ICP, Computer aided teleoperation, Remote Handling

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