Model-based Determination of Object Position and Orientation without Matching

• Item type: JInfP(1)
• 公開日: 1989-03-31
• タイトル: Model-based Determination of Object Position and Orientation without Matching
• タイトル / 言語: en
• タイトル: Model-based Determination of Object Position and Orientation without Matching
• 言語: eng
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_6501
• 資源タイプ: journal article
• 著者所属: Department of Computer Science Gunma University
• 著者所属: Department of Computer Science Gunma University
• 著者所属(英): en
• 著者所属(英): Department of Computer Science, Gunma University
• 著者所属(英): en
• 著者所属(英): Department of Computer Science, Gunma University
• 著者名: Ken-IchiKanatani; Kazuyuki, Yamada
• 著者名(英): Ken-Ichi, Kanatani; Kazuyuki, Yamada
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: This paper presents an algorithm for computing from a single image the 3D position and orientation of an object whose 3D shape is known. This algorithm does not require "matching" of the object with its image. The 3D position and orientation of the object is determined by computing the hypothetical "3D motion" of the object from a known position to the position of the observed image. The motion is iteratively estimated and up-dated from the values of "observables" globally defined over the model image and the observed image. Various technical issues are discussed and examples based on real images are shown. The technique can be applied to various manufacturing processes by industrial robots where the positioning control of machine parts is not very precise.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: This paper presents an algorithm for computing, from a single image, the 3D position and orientation of an object whose 3D shape is known. This algorithm does not require "matching" of the object with its image. The 3D position and orientation of the object is determined by computing the hypothetical "3D motion" of the object from a known position to the position of the observed image. The motion is iteratively estimated and up-dated from the values of "observables" globally defined over the model image and the observed image. Various technical issues are discussed, and examples based on real images are shown. The technique can be applied to various manufacturing processes by industrial robots where the positioning control of machine parts is not very precise.
• 書誌レコードID / 収録物識別子タイプ: NCID
• 書誌レコードID / 収録物識別子: AA00700121
• 書誌情報: Journal of Information Processing; 巻 12, 号 1, p. 1-8, 発行日 1989-03-31
• ISSN / 収録物識別子タイプ: ISSN
• ISSN / 収録物識別子: 1882-6652
• 出版者 / 言語: ja
• 出版者: 情報処理学会