Object pose estimation for grasping based on robust center point detection

Kai-Tai Song*, Che Hao Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

The objective of this study is to design a grasping system for a mobile manipulator, such that it can find and grasp a target object using vision. Speed up robust feature (SURF) algorithm was adopted to define features of the target object and match features between current image and object database to confirm the target. To strengthen the feature matching results and calculate the necessary reference control point, we adopted RANdom Sample Consensus(RANSAC) algorithm to estimate the planar transformation matrix (Homography matrix) in order to accurately mark the center of target. A control design was developed based-on coordinate estimation for visual servoing of the mobile manipulator. Experiments on a self-constructed mobile manipulator reveal that the proposed method can find and grasp a target object successfully.

Original languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages305-310
Number of pages6
StatePublished - 29 Aug 2011
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 15 May 201118 May 2011

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period15/05/1118/05/11

Keywords

  • Object recognition
  • mobile manipulator
  • stereo vision
  • visual servo

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