| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2021 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers // The 21st International Conference on Control, Automation and Systems (ICCAS 2021) (Jeju, South Korea; 12-15 October 2021) - p. 897-902. |
| Аннотация |
The 21st International Conference on Control, Automation and Systems (ICCAS 2021) |
| Ключевые слова |
Camera calibration, Aruco Marker, DH-parameters, Homogeneous Transformation Matrix, Kinematics |
| Название журнала |
The 21st International Conference on Control, Automation and Systems (ICCAS 2021)
|
| URL |
https://ieeexplore.ieee.org/document/9648843/ |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=263912 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.date.accessioned |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2021 |
ru_RU |
| dc.identifier.citation |
Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers // The 21st International Conference on Control, Automation and Systems (ICCAS 2021) (Jeju, South Korea; 12-15 October 2021) - p. 897-902. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=263912 |
ru_RU |
| dc.description.abstract |
The 21st International Conference on Control, Automation and Systems (ICCAS 2021) |
ru_RU |
| dc.description.abstract |
Manipulators are helpful in performing various hazardous tasks like sanitization with chemicals in germs infected areas, spraying pesticides in fields, pick and place of heavy and hazardous materials where direct human intervention is difficult. For manipulators to perform its assigned task accurately, prior estimation of its pose needs to be pinpointed. End-effector grasping and arm manipulation require estimation of 3D object poses. Recently, a number of procedures and databases for vision-based estimation of object pose have been advised. However, it is not clear about the performance of the developed algorithms for visual pose estimation of robot manipulation. In this paper we present the pose estimation of a 5-dof PhantomX Reactor Arm using On-Body/Aruco Markers. Forward and inverse kinematics were used to estimate the pose from the position coordinates calculated using computer vision techniques. This paper implements an approach aimed at estimating the pose of a camera, affixed to a robotic manipulator, against a target object. We adopt a single camera single-shot technique that minimizes the reprojection error over all the rigid poses. The simulation and experimental results using industrial monocular camera for different sizes of On-body markers were presented. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Camera calibration |
ru_RU |
| dc.subject |
Aruco Marker |
ru_RU |
| dc.subject |
DH-parameters |
ru_RU |
| dc.subject |
Homogeneous Transformation Matrix |
ru_RU |
| dc.subject |
Kinematics |
ru_RU |
| dc.title |
Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers |
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
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