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
N1 - Publisher Copyright:
© 2016 IEEE.
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 -