Real-time Model-based Articulated Object Pose Detection and Tracking with Variable Rigidity Constraints

Karl Pauwels, Leonardo Rubio, Eduardo Ros
University of Granada, Spain
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014


   title={Real-time object pose recognition and tracking with an imprecisely calibrated moving RGB-D camera},

   author={Karl Pauwels and Vladimir Ivan and Eduardo Ros and Sethu Vijayakumar},



   booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},

   address={Chicago, Illinois}


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We introduce a real-time system for recognizing and tracking the position and orientation of a large number of complex real-world objects, together with an articulated robotic manipulator operating upon them. The proposed system is fast, accurate and reliable and yet does not require precise camera calibration. The key to this high level of performance is a continuously-refined internal 3D representation of all the relevant scene elements. Occlusions are handled implicitly in this approach and a soft-constraint mechanism is used to obtain the highest precision at a specific region-of-interest. The system is well-suited for implementation on Graphics Processing Units and thanks to a tight integration of the latter’s graphical and computational capability, scene updates can be obtained at framerates exceeding 40 Hz. We demonstrate the robustness and accuracy of this system on a complex real-world manipulation task involving active endpoint closed-loop visual servo control in the presence of both camera and target object motion.
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