ML Anthology

An Effective Method for Determining the Robot Position

Din-Chang Tseng, Zen Chen, Jenn-Yee Lin
CVPR 1988 pp. 76-81
doi:10.1109/CVPR.1988.196217 /cvpr/1988/tseng1988cvpr-effective/

Abstract

A procedure for determining the position of a mobile robot in a 3-D space is presented. A single 2-D image of a cubic object is used to derive the position of the robot relative to this cube. The derivation is based on the information of vanishing points of the 2-D perspective projection of the cube. The coordinates of vanishing points are iteratively modified to satisfy the imposed constraints: (1) the edge length of the cube is known: (2) the adjacent edges of the cube are mutually perpendicular: and (3) the projected lines of all parallel edges of the cube converge to a vanishing point. In the experiments, a robot arm is automatically guided using the proposed method to grasp a cube. The error analysis of the experimental results is also reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Tseng et al. "An Effective Method for Determining the Robot Position." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1988. doi:10.1109/CVPR.1988.196217

Markdown

[Tseng et al. "An Effective Method for Determining the Robot Position." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1988.](https://mlanthology.org/cvpr/1988/tseng1988cvpr-effective/) doi:10.1109/CVPR.1988.196217

BibTeX

@inproceedings{tseng1988cvpr-effective,
  title     = {{An Effective Method for Determining the Robot Position}},
  author    = {Tseng, Din-Chang and Chen, Zen and Lin, Jenn-Yee},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1988},
  pages     = {76-81},
  doi       = {10.1109/CVPR.1988.196217},
  url       = {https://mlanthology.org/cvpr/1988/tseng1988cvpr-effective/}
}