Relative spatial pose estimation for autonomous grasping

Steve Roach; Michael Magee

doi:10.1117/1.601586

1 December 1997 Relative spatial pose estimation for autonomous grasping

Steve Roach, Michael Magee

Optical Engineering, Vol. 36, Issue 12, (December 1997). https://doi.org/10.1117/1.601586

A technique for finding the relative spatial pose between a robotic end effector and a target object to be grasped without a priori knowledge of the spatial relationship between the camera and the robot is presented. The transformation between the coordinate system of the camera and the coordinate system of the robot is computed dynamically using knowledge about the location of the end effector relative to both the camera and the robot. A previously developed computer vision technique is used to determine the pose of the end effector relative to the camera. The robot geometry and data from the robot controller is used to determine the pose of the end effector relative to the robot. The spatial transformation between the robot end effector and the target object is computed with respect to the robot’s coordinate system. The algorithm was demonstrated using a five-degree-of-freedom robot and an RGB camera system. The camera can be dynamically positioned without concern for an assumed spatial relationship between the camera and robot, enabling optimization of the view of the object and the end effector. Further, the iterative nature of the grasping algorithm reduces the effects of camera calibration errors.

Citation Download Citation

Steve Roach and Michael Magee "Relative spatial pose estimation for autonomous grasping," Optical Engineering 36(12), (1 December 1997). https://doi.org/10.1117/1.601586

Published: 1 December 1997

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available