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

Sorin Grigorescu | Zendy; Claudiu Pozna | Zendy

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

Author(s) -

Sorin Grigorescu,

Claudiu Pozna

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/55952

Subject(s) - computer science , computer vision , artificial intelligence , tracking (education) , video tracking , tracking system , robot , probabilistic logic , object (grammar) , eye tracking , rgb color model , kalman filter , psychology , pedagogy

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

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