Studies on the 3-D pose determination of a flexible object by a robot vision system

[目次]

  • Contents / p5
  • ABSTRACT / p1
  • ACKNOWLEDGMENT / p3
  • 1 Introduction / p1
  • 1.1 Background / p2
  • 1.2 Process for 3-D Sensing of a Flexible Object / p5
  • 1.3 Outline of Research / p8
  • 1.4 Thesis Organization / p9
  • 2 3-D Pose Determination of a Flexible Object / p11
  • 2.1 Introduction / p12
  • 2.2 Chaincoding of a Skeletonized Image / p15
  • 2.3 K-Curvature Representations / p18
  • 2.4 Matching of Two Curvature Representations / p20
  • 2.5 Determination of the Pose from Matched Results / p26
  • 2.6 Simulation / p28
  • 2.7 Experiment / p32
  • 2.8 Conclusion / p36
  • 3 Pose Determination by the Active Motion / p39
  • 3.1 Introduction / p40
  • 3.2 Active Sensing of the Pose of a Flexible Object / p41
  • 3.3 New Sensing Pose for Invisible Parts / p44
  • 3.4 New Sensing Pose for Exceptional Overlappings / p52
  • 3.5 Pose Determination Based on Curvature Representations / p55
  • 3.6 New Sensing Pose for Precise Sensing / p59
  • 3.7 Implementation and Experiments / p67
  • 3.8 Conclusion / p70
  • 4 Complicatedly Overlapped Object / p79
  • 4.1 Introduction / p79
  • 4.2 Pose Determination of an Overlapped Flexible Object / p80
  • 4.3 Exceptional Cases in Chaincoding of an Overlapped Image / p81
  • 4.4 Dividing and Matching / p84
  • 4.5 Experiment / p91
  • 4.6 Conclusion / p101
  • 5 Conclusion / p103

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この本の情報

書名 Studies on the 3-D pose determination of a flexible object by a robot vision system
著作者等 卞 鍾垠
書名別名 ロボットビジョンシステムによる柔軟対象物体の3次元姿勢決定に関する研究
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