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Proceedings Paper

Toward active pose estimation of a grasped object
Author(s): A. Lynn Abbott
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Paper Abstract

This paper concerns the use of visual feedback to verify whether an object has been properly grasped by a manipulator. The work is motivated by the fact that many general-purpose manipulators are equipped with very simple grippers which may not be well suited to grasping common objects. Furthermore, many robotic systems do not verify that a grasp operation has been successfully executed. This paper describes a system under development at Virginia Tech which utilizes visual feedback to guide relative camera-object movements for the purpose of estimating the pose of the object. The goal is to assist in computing object pose relative to a coordinate system embedded in the gripper. Object shape is assumed to be known in advance. Two methods are discussed, both of which utilize visually guided movements to search for a minimum in an objective function. The first method is to align the gripper with the image plane, facilitating the computation of object orientation about the normal to the image plane. The second involves moving the object to align its image with a desired view of the object. Extensive calibration of the camera or manipulator is not required. The methods discussed here are still at the conceptual stage, but illustrate the potential of the active approach.

Paper Details

Date Published: 6 August 1993
PDF: 9 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150229
Show Author Affiliations
A. Lynn Abbott, Virginia Polytechnic Institute and State Univ. (United States)


Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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