Two 3D recovering methods for robot control

被引：0

作者：

Moreau, G ^{[1
]}

Mallem, M ^{[1
]}

Chavand, F ^{[1
]}

N'zi, EC ^{[1
]}

机构：

[1] Univ Evry Val Essonne, CEMIF Syst Complexes, F-91020 Evry, France

来源：

ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年

关键词：

computer vision; numerical methods; geometric approaches; model-based control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To achieve the updating of a 3D environment database, the human operator must be provided with methods for recovering the position-orientation of a known object. In this paper two different methods are presented: the first one is based on the edges and uses geometric transformations to retrieve the position-orientation of the object. The other technique is numerical and based on the vertices and constraints on these vertices. Then a comparison is made between the methods, which focuses on both the application fields and the results given by their respective algorithms. These 3D recovering methods allow to control a robot by pointing out the object to be manipulated onto the video screen.

引用

页码：511 / 517

页数：3