"Multi-View Camera Pose Estimation for Robotic Arm Manipulation" accepted for publication

The article “Multi-View Camera Pose Estimation for Robotic Arm Manipulation”, by Ihtisham Ali, Olli Suominen, Emilio Ruiz Morales and Atanas Gotchev, has been published in IEEE Access.

Abstract:

This article proposes a novel approach aimed at estimating the pose of a camera, affixed to a robotic manipulator, against a target object. Our approach provides a way to exploit the redundancy of the robotic arm kinematics by directly considering manipulator poses in the model formulation for camera pose estimation. We adopt a single camera multi-shot technique that minimizes the reprojection error over all the rigid poses. The results of the proposed method are compared to four other studies employing either monocular or stereo setup. The experimental results on synthetic and real data show that the proposed monocular approach achieves better and in some cases comparable results to the stereo approach. Moreover, the proposed approach is significantly more robust and precise compared to other methods.

Contact

Ihtisham Ali 3D Media Research Group Tampere University

Ihtisham Ali

  • Doctoral Researcher
  • Hervanta Campus, TE306
  • Faculty of Information Technology and Communication Sciences, Computing Sciences
  • ihtisham.ali@tuni.fi
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Olli Suominen at 3D Media Group Tampere University

Olli Suominen

  • Doctoral Researcher
  • Hervanta Campus, TE311
  • Faculty of Information Technology and Communication Sciences, Computing Sciences
  • +358503015158
  • olli.j.suominen@tuni.fi
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Professor Atanas Gotchev 3D Media Group

Atanas Gotchev

  • Professor, Signal Processing
  • Hervanta Campus, TE314
  • Faculty of Information Technology and Communication Sciences, Computing Sciences
  • +358408490733
  • atanas.gotchev@tuni.fi
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