Naslov
Object Tracking with a Multiagent Robot System and a Stereo Vision Camera

Autori
Šuligoj, Filip ; Šekoranja, Bojan ; Švaco, Marko ; Jerbić, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Procedia Engineering 69 / Branko Katalinić - , 2014, 968-973

Skup
24th DAAAM International Symposium on Intelligent Manufacturing and Automation, 2013

Mjesto i datum
Zadar, Hrvatska, 23.10.2013. - 26.10.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
object tracking; robotic manipulation; stereo vision; image processing; object recognition

Sažetak
When working with a robot in terms of object manipulation the essential information is relative position between robot’s tool center point (TCP) and the object of interest. This paper proposes a method of frame relative displacement and describes a working multiagent robot application that can be used for tracking, tooling or handling operations with the use of stereo vision in unstructured laboratory environment. Robot system is composed of two Fanuc robot arms, one of which carries a stereo vision camera system and the other which is guided in relation to object of interest. The latter robot has a marker that is used for navigation between the robot and the object of interest. Image processing, marker detection, 3-D coordinates extraction, coordinate system transformations, offset coordinates calculation and communication are handled using c++ multithread program and TCP/IP protocol.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA