Scale and Rotation Invariant Two View Microgripper Detection that Uses a Planar Pattern

Juha Hirvonen, Pasi Kallio

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

    2 Citations (Scopus)
    29 Downloads (Pure)

    Abstract

    In automated grasping of microparts or objects with unknown dimensions and orientations, at least two cameras have to be used to acquire the depth information. In addition to recognition and reconstruction of the real-world coordinates of the target objects, the system has to be able to detect also the real-world coordinates of the microgrippers from the images. This paper presents a scale and rotation invariant microgripper detection method that uses a planar pattern. The method is suitable especially for prototyping systems, whose composition might vary between the experiments. The gripper detection is shown to be accurate enough for challenging micromanipulation tasks of small electronic components and individual paper fibers.
    Translated title of the contributionScale and Rotation Invariant Two View Microgripper Detection that Uses a Planar Pattern
    Original languageEnglish
    Title of host publication6th IFAC Symposium on Mechatronic Systems, April 10-12, 2013, Hangzhou, China
    EditorsBingfeng Ju
    PublisherInternational Federation of Automatic Control
    Pages414-422
    Number of pages9
    ISBN (Print)978-3-902823-31-1
    DOIs
    Publication statusPublished - 2013
    Publication typeA4 Article in conference proceedings

    Publication series

    NameElsevier IFAC Publications / IFAC Proceedings series
    ISSN (Print)1474-6670

    Publication forum classification

    • Publication forum level 1

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