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

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

Izvornik
Third Croatian Computer Vision Workshop (CCVW 2014)

Vrsta, podvrsta
Ostale vrste radova, ostalo

Godina
2014

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

Napomena
Poster prezentacija na radionici.

POVEZANOST RADA