Conveyor tracking method based on visual object tracking and real time guidance
To build a robot tracking and quality inspection system on roller conveyor,a novel tracking approach based on visual object tracking and real-time guidance was proposed,that was tracking object's 6D pose with camera in re-al time and processing robot online.The objects were captured by the static camera in real time and a Multi-Object Tracking(MOT)algorithm was proposed to track the locations and rotations of these moving objects.The object's 6D pose and the trajectory of robot were solved in real time.The robot was processed with the real-time trajectory to keep the end-effector coincident with the work point.The experiments showed that the proposed approach could be used on roller conveyor.Compared to the tracking approach based on detection,the novel approach did not accumu-late the estimation error of objects during tracking.
万方数据
维普
