Kinect-based obstacle detection for manipulator

This paper presents a method to distinguish between obstacles and manipulator when they share the same workspace. Microsoft Kinect is used as a capturing device. A Kinect calibration method is explained. Furthermore, calibration between Kinect and the manipulator is addressed by iterative least-squa...

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Bibliographic Details
Published in2011 IEEE/SICE International Symposium on System Integration pp. 68 - 73
Main Authors Rakprayoon, P., Ruchanurucks, M., Coundoul, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2011
Subjects
Cameras
Manipulators
Robot kinematics
Robot vision systems
Solid modeling
Three dimensional displays
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ISBN9781457715235
1457715236
DOI10.1109/SII.2011.6147421

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Summary:This paper presents a method to distinguish between obstacles and manipulator when they share the same workspace. Microsoft Kinect is used as a capturing device. A Kinect calibration method is explained. Furthermore, calibration between Kinect and the manipulator is addressed by iterative least-square method. 3D model of manipulator is generated using OpenGL library. Finally, the manipulator surface is deleted from the scene by intersection of data between the manipulator model and its corresponding point cloud.
ISBN:9781457715235
1457715236
DOI:10.1109/SII.2011.6147421