Estimation of the position of a robot using computer-vision for a live-line maintenance task
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 1203-1208
- https://doi.org/10.1109/robot.1987.1087981
Abstract
This paper presents a computer vision technique designed to estimate the position and orientation of a robot manipulator in its working environment. The manipulator is expected to execute live-line maintenance tasks. The position and orientation are obtained from the segmentation of two grey-level images of the scene taken from a single point of view, and from a priori knowledge of the scene. Experimental results are presented and the validity of the method is discussed on the basis of accuracy and speed.Keywords
This publication has 7 references indexed in Scilit:
- Microelectronics in products and productionRobotics, 1985
- A Three-Dimensional Vision by Off-Shelf System with Multi-CamerasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985
- A Perspective on Range Finding Techniques for Computer VisionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1983
- Random sample consensusCommunications of the ACM, 1981
- Linear feature extraction and descriptionComputer Graphics and Image Processing, 1980
- Planar Geometric Projections and Viewing TransformationsACM Computing Surveys, 1978
- The measurement and use of registered reflectance and range data in scene analysisProceedings of the IEEE, 1977