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Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints

Olsson, Tomas LU ; Bengtsson, Johan LU ; Robertsson, Anders LU and Johansson, Rolf LU (2003) In Proceedings. ICRA '03. 3. p.3491-3496
Abstract
In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye transformation,viewing a stationary object with unknown position. The method usesdual quaternions to express the relationship between the camera- andend-effector screws. It is shown how using the measured motion of therobot end-effector can improve the accuracy of theestimation, even if the relative position and orientation between sensorand actuator is completely unknown.The method is evaluated in simulations on images from a real-time 3D renderingsystem. The system is shown to be able to track the pose of rigid objects and changes in intrinsic camera... (More)
In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye transformation,viewing a stationary object with unknown position. The method usesdual quaternions to express the relationship between the camera- andend-effector screws. It is shown how using the measured motion of therobot end-effector can improve the accuracy of theestimation, even if the relative position and orientation between sensorand actuator is completely unknown.The method is evaluated in simulations on images from a real-time 3D renderingsystem. The system is shown to be able to track the pose of rigid objects and changes in intrinsic camera parameters, using only rough initial values for the parameters. The method is finally validated in anexperiment using real images from a camera mounted on an industrial robot. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
motion estimation, industrial robots, real-time systems, rendering (computer graphics), target tracking, Kalman filters, computer vision, camera calibration, extended Kalman filter, end effector screws, dual quaternions, contour based rigid body tracking, hand-eye motion constraints, eye-in-hand camera, motion measurement, industrial robot, real-time system, visual position tracking
in
Proceedings. ICRA '03.
volume
3
pages
3491 - 3496
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000187419900560
  • scopus:0344896700
ISSN
2152-4092
1050-4729
ISBN
0-7803-7736-2
DOI
10.1109/ROBOT.2003.1242130
language
English
LU publication?
yes
id
49a16de0-708c-4f6e-a201-9fe2b2984169 (old id 536704)
date added to LUP
2007-09-24 14:02:05
date last changed
2017-06-04 03:36:48
@inproceedings{49a16de0-708c-4f6e-a201-9fe2b2984169,
  abstract     = {In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye transformation,viewing a stationary object with unknown position. The method usesdual quaternions to express the relationship between the camera- andend-effector screws. It is shown how using the measured motion of therobot end-effector can improve the accuracy of theestimation, even if the relative position and orientation between sensorand actuator is completely unknown.The method is evaluated in simulations on images from a real-time 3D renderingsystem. The system is shown to be able to track the pose of rigid objects and changes in intrinsic camera parameters, using only rough initial values for the parameters. The method is finally validated in anexperiment using real images from a camera mounted on an industrial robot.},
  author       = {Olsson, Tomas and Bengtsson, Johan and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {Proceedings. ICRA '03.},
  isbn         = {0-7803-7736-2},
  issn         = {2152-4092},
  keyword      = {motion estimation,industrial robots,real-time systems,rendering (computer graphics),target tracking,Kalman filters,computer vision,camera calibration,extended Kalman filter,end effector screws,dual quaternions,contour based rigid body tracking,hand-eye motion constraints,eye-in-hand camera,motion measurement,industrial robot,real-time system,visual position tracking},
  language     = {eng},
  pages        = {3491--3496},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints},
  url          = {http://dx.doi.org/10.1109/ROBOT.2003.1242130},
  volume       = {3},
  year         = {2003},
}