Model-based virtual visual servoing with point cloud data

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

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5549-5555
ページ数7
ISBN(電子版)9781509037629
DOI
出版ステータスPublished - 2016 11 28
イベント2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
継続期間: 2016 10 92016 10 14

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2016-November
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
国/地域Korea, Republic of
CityDaejeon
Period16/10/916/10/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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