Towards a Stable Robotic Object Manipulation Through 2D-3D Features Tracking

International Journal of Advanced Robotic Systems

关键词: Object Tracking;    Robot Vision;    Mobile Manipulation;    Service Robotics;   

DOI  :  10.5772/55952

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, a new object tracking system is proposed to improve the object manipulation capabilities of service robots. The goal is to continuously track the state of the visualized environment in order to send visual information in real time to the path planning and decision modules of the robot; that is, to adapt the movement of the robotic system according to the state variations appearing in the imaged scene. The tracking approach is based on a probabilistic collaborative tracking framework developed around a 2D patch-based tracking system and a 2D-3D point features tracker. The real-time visual information is composed of RGB-D data streams acquired from state-of-the-art structured light sensors. For performance evaluation, the accuracy of the developed tracker is compared to a traditional marker-based tracking system which delivers 3D information with respect to the position of the marker.

【 授权许可】

CC BY