1P1-L06 添付型記憶媒体を用いた物体の三次元位置姿勢推定 : 記憶媒体の読み取りを利用した推定結果の検証(建設・解体ロボット・メカトロニクス)

概要

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This paper describes a method for estimation of pose (position and orientation) of large objects such as construction materials using multiple ID devices attached to the objects. Object-pose tracking is crucial issue for integration of the objects and their information via ID devices since the workers or robots that do not have ID reader can change the object pose. The method uses the position and orientation of the ID reader with respect to the reference coordination frame. This paper focuses on the verification of the estimation result based on data acquisition through ID devices. The pose estimation method are not stable when the pose error of the ID reader on acquisition of the IDs. The verification method uses only the poses of the ID reader when the reader obtains the ID of the devices, and the estimated object pose. Experimental results show feasibility of the proposed method.
一般社団法人日本機械学会の論文
2007-05-11