期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：1
DOI：10.1177/1729881417753692
语种：English
出版社：SAGE Publications
摘要：Nuts and bolts are common components in assembly lines. Their position and pose estimation is a vital step for automatic assembling. Although many approaches using a monocular camera have been proposed, few works consider a monocular camera’s active movements for improving estimation accuracy. This article presents an active movement strategy for a monocular eye-in-hand camera for high position and pose estimation accuracy of a spatial circle. Extensive experiments are conducted to validate the effectiveness of the proposed method for position and pose estimation of circles printed on paper, real circular flat washers, and nuts.
关键词：Position estimation; pose estimation; monocular eye-in-hand system; active movement; spatial circle
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