Conveyor tracking method based on visual object tracking and real time guidance

被引：0

作者：

Liu, Ning ^{[1
,2
]}

Zhang, Zhiguo ^{[1
]}

Li, Deping ^{[2
]}

Zhang, Jiahuan ^{[1
]}

Wang, Gao ^{[1
]}

机构：

[1] College of Information Science and Technology, Jinan University, Guangzhou

[2] School of Intelligent Systems Science and Engineering, Jinan University, Zhuhai

来源：

Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2024年 / 30卷 / 07期

基金：

中国国家自然科学基金;

关键词：

conveyor; multi-object tracking; robot; visual guidance;

D O I：

10.13196/j.cims.2021.0953

中图分类号：

学科分类号：

摘要：

To huild a robot tracking and quality inspection system on roller conveyor, a novel tracking approach based on visual object tracking and real-time guidance was proposed, that was tracking object's 6D pose with camera in real time and processing robot online. The objects were captured by the static camera in real time and a Multi-Object Tracking (MOT) algorithm was proposed to track the locations and rotations of these moving objects. The object's 6D pose and the trajectory of robot were solved in real time. The robot was processed with the real-time trajectory to keep the end-effector coincident with the work point. The experiments showed that the proposed approach could be used on roller conveyor. Compared to the tracking approach based on detection, the novel approach did not accumulate the estimation error of objects during tracking. © 2024 CIMS. All rights reserved.

引用

页码：2350 / 2363

页数：13

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