Outlet detection and pose estimation for robot continuous operation

IROS 2011
Pages: 2941 - 2946
Published: Dec 5, 2011
Abstract
We describe an algorithm for detection of electrical outlets in images obtained by a monocular camera. We provide a method for calculating 3D coordinates of outlet holes with accuracy high enough for a robot to plug in without visual servoing. The paper proposes a novel algorithm for accurate pose estimation of a small planar object. We use the plane normal obtained from stereo data as a hard constraint for a planar PnP problem. A different cost...
Paper Details
Title
Outlet detection and pose estimation for robot continuous operation
Published Date
Dec 5, 2011
Journal
Pages
2941 - 2946
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