Pose estimation for assembly robot using three dimensional registration
by Haili Xu; Longbiao Zhu; Jian Zhuang; Sun'an Wang
International Journal of Signal and Imaging Systems Engineering (IJSISE), Vol. 5, No. 1, 2012

Abstract: A novel method of object pose estimation based on three dimensional registration for assembly robot is presented. The spatial registration parameters can be computed by finding which projection of the volume is the most similar to the camera image. We compute the Fourier Transform (FT) of the volume projection by using FT projection theorem. A cost function is designed according to the magnitude of projection FT and image FT. Registration parameters is obtained by using Complicated System Genetic Algorithm (CSGA) to minimise the cost function. Assembly experiment made on our robot system shows our method is efficient and practical.

Online publication date: Fri, 04-May-2012

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Signal and Imaging Systems Engineering (IJSISE):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com