Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-25T17:24:37.278Z Has data issue: false hasContentIssue false
  • English
  • Français

Interactive building and updating of a 3D database for teleoperation

Published online by Cambridge University Press:  01 September 1997

Edie Camille N'Zi ,
Malik Mallem  and
Florent Chavand
Edie Camille N'Zi
Affiliation:
CEMIF Systemes Complexes, 40 rue du Pelvoux, CE 1455 Courcouronnes, 91020 Evry Cedex, France E-mail: [email protected]
Malik Mallem
Affiliation:
CEMIF Systemes Complexes, 40 rue du Pelvoux, CE 1455 Courcouronnes, 91020 Evry Cedex, France E-mail: [email protected]
Florent Chavand
Affiliation:
CEMIF Systemes Complexes, 40 rue du Pelvoux, CE 1455 Courcouronnes, 91020 Evry Cedex, France E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

The paper deals with the modelling of unknown objects and location determination of known ones. The operator models objects using data issued from the video image and a time of flight infra red range finder. We present methods to build an embodying volume for unknown objects. These methods are available for polyhedral and conical objects, which represent the basis of most industrial environments. The location determination of known objects is determined using 2D clues obtained through video image. A two-step algorithm is implemented and assessed. The first step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first estimate of the pose. The second step is available in case of object small motion. A linear approach is carried out to determine the pose. It allows the use of redundant data, so it improves the accuracy achieved after the first step.

Keywords

Telerobotics3D databasesImages matchingGeometric algorithm
Type
Research Article
Information
Robotica , Volume 15 , Issue 5 , September 1997 , pp. 511 - 521
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)