Active Position-Pose Estimation of Nuts Using a Monocular Eye-In-Hand System

Junbing Feng1, Xin Ma1, Jindong Tan2, Guohui Tian1, Jason Gu3, Yibin Li1

  • 1Shandong University
  • 2University of Tennessee, Knoxville
  • 3Dalhousie University



10:00 - 10:30 | Mon 25 Sep | Ballroom Foyer | MoAmPo

Monday Posters AM

Full Text


Position-pose estimation of objects is a vital step for robotic intelligent grasping. In this paper, we propose an active 6D position-pose estimation algorithm for a spatial circle exploiting monocular eye-in-hand system. First, the influence of the monocular eye-in-hand system's positions on the performance of position-pose estimation from two images taken by a monocular eye-in-hand system from two different views was analyzed. Then, an active movement strategy of the monocular eye-in-hand system was proposed for more accurate position-pose estimation. Finally, experiments were conducted to demonstrate the effectiveness of the proposed method for position and pose estimation of circles printed on paper and real nuts.

Additional Information

No information added


No videos found