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

9 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/Territory	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

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 et al.

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). doi: 10.1109/IROS.2016.7759816

@inproceedings{2bd6f2133b0545e1896fe5342660477d,

title = "Model-based virtual visual servoing with point cloud data",

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.",

author = "Cherdsak Kingkan and Shogo Ito and Shogo Arai and Takashi Nammoto and Koichi Hashimoto",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759816",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5549--5555",

booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Model-based virtual visual servoing with point cloud data

AU - Kingkan, Cherdsak

AU - Ito, Shogo

AU - Arai, Shogo

AU - Nammoto, Takashi

AU - Hashimoto, Koichi

PY - 2016/11/28

Y1 - 2016/11/28

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85006434581&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85006434581&partnerID=8YFLogxK

U2 - 10.1109/IROS.2016.7759816

DO - 10.1109/IROS.2016.7759816

M3 - Conference contribution

AN - SCOPUS:85006434581

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 5549

EP - 5555

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -

Model-based virtual visual servoing with point cloud data

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this