Model-based virtual visual servoing with point cloud data

Cherdsak Kingkan; Shogo Ito; Shogo Arai; Takashi Nammoto; Koichi Hashimoto

doi:10.1109/IROS.2016.7759816

Model-based virtual visual servoing with point cloud data

Cherdsak Kingkan, Shogo Ito, Shogo Arai, Takashi Nammoto, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

In this paper, we address an issue on non-existence of a CAD model of an object in a model-based virtual visual servoing system. The approach for reconstructing a 3D model with fewer faces from point cloud data is presented. Because of a number of faces on the model surface, this reconstructed model required less rendering time than a CAD model, consequently, high speed and high accuracy model-based visual servoing can be achieved.We present the experimental results to demonstrate the effectiveness in terms of rendering time, convergence speed, and tracking speed measurements. The comparison of performances of a model-based visual servoing using different models, i.e.-CAD, Coarse mesh, Fine mesh, and Propose models, is also presented.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5549-5555
Number of pages	7
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759816
Publication status	Published - 2016 Nov 28
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 2016 Oct 9 → 2016 Oct 14

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2016-November
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country	Korea, Republic of
City	Daejeon
Period	16/10/9 → 16/10/14

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2016.7759816

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Cite this

Kingkan, C., Ito, S., Arai, S., Nammoto, T., & Hashimoto, K. (2016). Model-based virtual visual servoing with point cloud data. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5549-5555). [7759816] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759816

Model-based virtual visual servoing with point cloud data. / Kingkan, Cherdsak; Ito, Shogo; Arai, Shogo; Nammoto, Takashi; Hashimoto, Koichi.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5549-5555 7759816 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kingkan, C, Ito, S, Arai, S, Nammoto, T & Hashimoto, K 2016, Model-based virtual visual servoing with point cloud data. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems., 7759816, IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, Institute of Electrical and Electronics Engineers Inc., pp. 5549-5555, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 16/10/9. https://doi.org/10.1109/IROS.2016.7759816

Kingkan C, Ito S, Arai S, Nammoto T, Hashimoto K. Model-based virtual visual servoing with point cloud data. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5549-5555. 7759816. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2016.7759816

Kingkan, Cherdsak ; Ito, Shogo ; Arai, Shogo ; Nammoto, Takashi ; Hashimoto, Koichi. / Model-based virtual visual servoing with point cloud data. IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5549-5555 (IEEE International Conference on Intelligent Robots and Systems).

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