KFU. Card publication. Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers

- RUS
- 中文
- ES

KATTA SREE S.S., ADNAN J., CHAUDHARY S., DUTTA ROY S., ARORA C., SAHA S.K., MAGID E. POSE ESTIMATION OF 5-DOF MANIPULATION USING ON-BODY MARKERS

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2021

��

��

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers // The 21st International Conference on Control, Automation and Systems (ICCAS 2021) (Jeju, South Korea; 12-15 October 2021) - p. 897-902.

Annotation

The 21st International Conference on Control, Automation and Systems (ICCAS 2021)

Keywords

Camera calibration, Aruco Marker, DH-parameters, Homogeneous Transformation Matrix, Kinematics

The name of the journal

The 21st International Conference on Control, Automation and Systems (ICCAS 2021)

URL

https://ieeexplore.ieee.org/document/9648843/

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=263912&p_lang=2

Resource files

File name	Size (MB)	Format
2021_Pose_Estimation_of_5_DOF_Manipulation_using_On_Body_Markers.pdf	0,75	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers // The 21st International Conference on Control, Automation and Systems (ICCAS 2021) (Jeju, South Korea; 12-15 October 2021) - p. 897-902.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=263912&p_lang=2	ru_RU
dc.description.abstract	The 21st International Conference on Control, Automation and Systems (ICCAS 2021)	ru_RU
dc.description.abstract	Manipulators are helpful in performing various hazardous tasks like sanitization with chemicals in germs infected areas, spraying pesticides in fields, pick and place of heavy and hazardous materials where direct human intervention is difficult. For manipulators to perform its assigned task accurately, prior estimation of its pose needs to be pinpointed. End-effector grasping and arm manipulation require estimation of 3D object poses. Recently, a number of procedures and databases for vision-based estimation of object pose have been advised. However, it is not clear about the performance of the developed algorithms for visual pose estimation of robot manipulation. In this paper we present the pose estimation of a 5-dof PhantomX Reactor Arm using On-Body/Aruco Markers. Forward and inverse kinematics were used to estimate the pose from the position coordinates calculated using computer vision techniques. This paper implements an approach aimed at estimating the pose of a camera, affixed to a robotic manipulator, against a target object. We adopt a single camera single-shot technique that minimizes the reprojection error over all the rigid poses. The simulation and experimental results using industrial monocular camera for different sizes of On-body markers were presented.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Camera calibration	ru_RU
dc.subject	Aruco Marker	ru_RU
dc.subject	DH-parameters	ru_RU
dc.subject	Homogeneous Transformation Matrix	ru_RU
dc.subject	Kinematics	ru_RU
dc.title	Katta Sree S.S., Adnan J., Chaudhary S., Dutta Roy S., Arora C., Saha S.K., Magid E. Pose Estimation of 5-DOF Manipulation using On-Body Markers	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU