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JRM Vol.34 No.5 pp. 1063-1072
doi: 10.20965/jrm.2022.p1063
(2022)

Paper:

Real-Time Marker-Based Tracking and Pose Estimation for a Rotating Object Using High-Speed Vision

Xiao Liang*, Masahiro Hirano**, and Yuji Yamakawa***

*Department of Mechanical Engineering, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

**Institute of Industrial Science, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

***Interfaculty Initiative in Information Studies, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

Received:
March 28, 2022
Accepted:
July 22, 2022
Published:
October 20, 2022
Keywords:
high-speed vision, pose estimation, marker, stereo vision, rotating object
Abstract
Real-Time Marker-Based Tracking and Pose Estimation for a Rotating Object Using High-Speed Vision

Pose estimation for a rotating object

Object tracking and pose estimation have always been challenging tasks in robotics, particularly for rotating objects. Rotating objects move quickly and with complex pose variations. In this study, we introduce a marker-based tracking and pose estimation method for rotating objects using a high-speed vision system. The method can obtain pose information at frequencies greater than 500 Hz, and can still estimate the pose when parts of the markers are lost during tracking. A robot catching experiment shows that the accuracy and frequency of this system are capable of high-speed tracking tasks.

Cite this article as:
X. Liang, M. Hirano, and Y. Yamakawa, “Real-Time Marker-Based Tracking and Pose Estimation for a Rotating Object Using High-Speed Vision,” J. Robot. Mechatron., Vol.34, No.5, pp. 1063-1072, 2022.
Data files:
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Last updated on Dec. 01, 2022