Šuligoj, Filip and Šekoranja, Bojan and Švaco, Marko and Jerbić, Bojan (2014) Object tracking with a multiagent robot system and a stereo vision camera. = Object tracking with a multiagent robot system and a stereo vision camera. In: 24th DAAAM International Symposium on Intelligent Manufacturing and Automation, 2013, 23.-26.10.2013., Zadar, Hrvatska.
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Object tracking with a multiagent robot system and a stereo vision camera.pdf - Accepted Version Jezik dokumenta:English Download (1MB) | Preview |
Abstract
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.
| Item Type: | Conference or Workshop Item (Lecture) |
|---|---|
| Keywords (Croatian): | object tracking, robotic manipulation, stereo vision, image processing, object recognition |
| Subjects: | TECHNICAL SCIENCE > Mechanical Engineering |
| Divisions: | 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning |
| Indexed in Web of Science: | Yes |
| Indexed in Current Contents: | No |
| Date Deposited: | 19 Sep 2016 14:42 |
| Last Modified: | 24 Sep 2018 08:28 |
| URI: | http://repozitorij.fsb.hr/id/eprint/6382 |
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